U.S. patent application number 13/054724 was filed with the patent office on 2011-10-20 for module for automatic tool exchange device.
This patent application is currently assigned to HONDA MOTOR CO., LTD.. Invention is credited to Keisuke Ayabe, Atsushi Deguchi, Takashi Fujimura, Atsushi Miyabe, Toshikazu Mukai, Shinya Sasaki, Shuhei Takazakura, Shinji Yahiro, Tomimasa Yamashita.
Application Number | 20110256995 13/054724 |
Document ID | / |
Family ID | 41610133 |
Filed Date | 2011-10-20 |
United States Patent
Application |
20110256995 |
Kind Code |
A1 |
Takazakura; Shuhei ; et
al. |
October 20, 2011 |
MODULE FOR AUTOMATIC TOOL EXCHANGE DEVICE
Abstract
Provided is a module for automatic tool exchange device of novel
structure wherein electric signals can be transmitted with high
reliability while preventing transmission efficiency from
deteriorating between a first coupling member and a second coupling
member. An electromagnetic shielding member is arranged on an outer
circumference of a core member except for a transmission surface, a
gap member having electromagnetic shielding effect lower than that
of the electromagnetic shielding member is interposed between the
core member and the electromagnetic shielding member, and a first
module and a second module are provided, respectively, with coil
units equipped with coil heads which are constituted to include a
coil member, the member and the gap member.
Inventors: |
Takazakura; Shuhei;
(Otsu-Shi, JP) ; Deguchi; Atsushi; (Shima-Shi,
JP) ; Sasaki; Shinya; (Tsu-Shi, JP) ; Mukai;
Toshikazu; (Ise-Shi, JP) ; Yamashita; Tomimasa;
(Suzuka-Shi, JP) ; Yahiro; Shinji; (Suzuka-Shi,
JP) ; Miyabe; Atsushi; (Suzuka-Shi, JP) ;
Ayabe; Keisuke; (Kameyama-Shi, JP) ; Fujimura;
Takashi; (Utsunomiya-Shi, JP) |
Assignee: |
HONDA MOTOR CO., LTD.
TOKYO
JP
MIE ELECTRONICS CO., LTD.
ISE-SHI, MIE
JP
|
Family ID: |
41610133 |
Appl. No.: |
13/054724 |
Filed: |
July 23, 2009 |
PCT Filed: |
July 23, 2009 |
PCT NO: |
PCT/JP2009/003477 |
371 Date: |
June 9, 2011 |
Current U.S.
Class: |
483/7 |
Current CPC
Class: |
G08C 17/04 20130101;
B25J 19/0029 20130101; Y10T 483/175 20150115; B25J 15/04 20130101;
Y10T 483/13 20150115 |
Class at
Publication: |
483/7 |
International
Class: |
B23Q 3/155 20060101
B23Q003/155 |
Foreign Application Data
Date |
Code |
Application Number |
Aug 1, 2008 |
JP |
2008-200184 |
Claims
1. A module for an automatic tool exchange device used for an
automatic tool exchange device for which a first coupling member
attached to one of either a robot main unit side and a tool side
and a second coupling member attached to another are coupled to
each other with an ability to be separated, comprising: a first
module provided detachably on the first coupling member; and a
second module provided detachably on the second coupling member,
for transmitting electrical signals between the first coupling
member and the second coupling member by permitting transmission of
electrical signals between this first module and second module,
wherein a core member is combined with a coil member and a
transmission surface including a magnetic path open surface formed
by the core member is provided, and an electromagnetic shielding
member is arranged on an outer circumference of the core member
except for the transmission surface, and also, interposed between
the core member and the electromagnetic shielding member is a gap
member having a lower electromagnetic shielding effect than the
electromagnetic shielding member, constituting at least one coil
head including the coil member, core member, and gap member, and
meanwhile, using a pair of coil units constituted containing the
coil head and the electromagnetic shielding member, by positioning
the core member transmission surfaces facing opposite each other,
constituted is an opposite facing type interface for performing
transmission of electrical signals using an electromagnetic
induction effect, and one of the coil units on the opposite facing
type interface is attached to the first module and another is
attached to the second module by which it is possible to transmit
electrical signals between the first module and the second
module.
2. The module for an automatic tool exchange device according to
claim 1, wherein the core member is a round cylinder shape equipped
with a circumference groove that opens in one axis direction, and
that the transmission surface is constituted by an open side end
surface of the circumference groove by the coil member being
arranged inside the circumference groove.
3. The module for an automatic tool exchange device according to
claim 1, wherein the transmission surfaces for the pair of coil
units are able to be in contact with each other with the first
coupling member and the second coupling member in a coupled
state.
4. The module for an automatic tool exchange device according to
claim 1, wherein the one of the pair of coil units is provided
fixed to one of either the first module and the second module, and
the other of the pair of coil units is provided via an elastic
support member to be able to be displaced along a specified range
in an opposite facing direction of the pair of coil units in
relation to another of the first module and the second module.
5. The module for an automatic tool exchange device according to
claim 4, wherein the elastic support member is constituted by an
energizing member energizing the coil unit provided on the one of
either the first module and the second module in a state projecting
toward the other of the first module and the second module.
6. The module for an automatic tool exchange device according to
claim 5, wherein a maximum projecting volume of the coil unit made
to project by the energizing member is larger than a maximum
separation volume of the first module and the second module in the
opposite facing direction of the coil units.
7. The module for an automatic tool exchange device according to
claim 5, wherein the energizing member is constituted including a
coil spring that applies energizing force to the coil unit, and a
locking part that locks the coil unit and blocks detachment from
the first module or the second module.
8. The module for an automatic tool exchange device according to
claim 7, wherein the module further comprises a holder that holds
the coil unit, the energizing member for applying energizing force
to the coil unit using restoration force of the coil spring is
constituted by pushing through the coil spring inside the holder
from an opening part opened to a side opposite the transmission
surface of the coil unit at the holder, and by compression
deforming the coil spring between a lid member that plugs the
opening part and the coil unit.
9. The module for an automatic tool exchange device according to
claim 1, wherein one of the transmission surfaces of the pair of
coil units is made to be larger than another of the transmission
surfaces in a direction orthogonal to the direction facing opposite
the other of the transmission surfaces.
10. The module for an automatic tool exchange device according to
claim 9, wherein compared to the other of the transmission
surfaces, the one of the transmission surfaces of the pair of coil
units is larger than a maximum displacement volume between the
first module and the second module in the direction orthogonal to
the opposite facing direction of the coil units.
11. The module for an automatic tool exchange device according to
claim 1, wherein the coil unit of each of the first module and
second module includes the at least one coil head comprising a
plurality of coil heads.
12. The module for an automatic tool exchange device according to
claim 1, wherein the respective first module and second module
include other coil units so as to have the at least one coil head
comprising a plurality of coil heads.
13. The module for an automatic tool exchange device according to
claim 11, wherein the module is able to transmit power in addition
to the electrical signals, and the plurality of coil heads are
constituted including a coil head for power for transmitting power
and a coil head for signals for transmitting signals.
14. The module for an automatic tool exchange device according to
claim 13, wherein the transmission surface of the coil head for
power is larger than the transmission surface of the coil head for
signals.
15. The module for an automatic tool exchange device according to
claim 1, wherein the module is able to transmit power in addition
to electrical signals.
16. The module for an automatic tool exchange device according to
claim 1, wherein as the electrical signals, at least one of a
sensor signal, encoder signal, and serial signal is included.
17. The module for an automatic tool exchange device according to
claim 1, wherein the electromagnetic shielding member is formed
from at least one of aluminum, copper, iron, nickel, magnetite,
gadolinium, cobalt, a ferrimagnetic body, a conductive powder
material, and a conductive coating material.
18. The module for an automatic tool exchange device according to
claim 1, wherein the gap member is formed from at least one of
polytetrafluoroethylene, epoxy resin, plastic, wood, paper, cloth,
a nonconductive coating material, reinforced plastic, glass,
natural resin, and synthetic resin.
19. An automatic tool exchange device for which a first coupling
member attached to one of either a robot main body side and a tool
side and a second coupling member attached to another are coupled
to each other with an ability to be separated, the device being
equipped with a module for an automatic tool exchange device
comprising: a first module provided detachably on the first
coupling member; and a second module provided detachably on the
second coupling member, for transmitting electrical signals between
the first coupling member and the second coupling member by
permitting transmission of electrical signals between this first
module and second module, wherein a core member is combined with a
coil member and a transmission surface including a magnetic path
open surface formed by the core member is provided, and an
electromagnetic shielding member is arranged on an outer
circumference of the core member except for the transmission
surface, and also, interposed between the core member and the
electromagnetic shield member is a gap member having a lower
electromagnetic shielding effect than the electromagnetic shielding
member, constituting at least one coil head including the coil
member, core member, and gap member, and meanwhile, using a pair of
coil units constituted containing the coil head and the
electromagnetic shielding member, by positioning the core member
transmission surfaces facing opposite each other, constituted is an
opposite facing type interface for performing transmission of
electrical signals using an electromagnetic induction effect, and
one of the coil units on the opposite facing type interface is
attached to the first module and another is attached to the second
module by which it is possible to transmit electrical signals
between the first module and the second module.
20. A robot being equipped with an automatic tool exchange device
for which a first coupling member attached to one of either a robot
main body side and a tool side and a second coupling member
attached to another are coupled to each other with an ability to be
separated, the device being equipped with a module for an automatic
tool exchange device comprising: a first module provided detachably
on the first coupling member; and a second module provided
detachably on the second coupling member, for transmitting
electrical signals between the first coupling member and the second
coil member by permitting transmission of electrical signals
between this first module and second module, wherein a core member
is combined with a coil member and a transmission surface including
a magnetic path open surface formed by the core member is provided,
and an electromagnetic shielding member is arranged on an outer
circumference of the core member except for the transmission
surface, and also, interposed between the core member and the
electromagnetic shielding member is a gap member having a lower
electromagnetic shielding effect than the electromagnetic shielding
member, constituting at least one coil head including the coil
member, core member, and gap member, and meanwhile, using a pair of
coil units constituted containing the coil head and the
electromagnetic shielding member, by positioning the core member
transmission surfaces facing opposite each other, constituted is an
opposite facing type interface for performing transmission of
electrical signals using an electromagnetic induction effect, and
one of the coil units on the opposite facing type interface is
attached to the first module and another is attached to the second
module by which it is possible to transmit electrical signals
between the first module and the second module.
21. The robot according to claim 20, further comprising: a first
member and a second member coupled by a rotation axis and made to
be able to rotate relative to each other around the rotation axis;
and a harnessless device being constituted including at least one
first coil unit attached to the first member and at least one
second coil unit attached to the second member, wherein: the first
coil unit includes a first core member being constituted by a
plurality of partial core members being arranged mutually separated
on a circumference, and also, at least one first coil head being
constituted by a first coil member extending on the circumference
on which the plurality of partial core members are arranged being
attached to the first core member, and a first transmission surface
consisting of a magnetic path open surface being formed by the
partial core member at the first coil head, the first coil unit
being constituted by the plurality of the partial core members
being arranged in a circular form on a first support member by the
first coil head being supported on the first support member; the
second coil unit includes a second core member being constituted
with a circumference direction length greater than a maximum value
of a circumference direction separation distance of the partial
core members adjacent in the circumference direction at the first
core member, and also, at least one second coil head being
constituted by a second coil member being attached to the second
core member, and a second transmission surface consisting of a
magnetic path open surface being formed by the second core member
at the second coil head, the second coil unit being constituted by
having the second coil head supported by a second support member;
and by attaching the first coil unit to the first member being a
state with the first core member placed coaxially with a rotation
center axis of the rotation axis, and also, by attaching the second
coil unit to the second member, the second transmission surface at
the second core member is positioned facing opposite and able to
rotate relative to each other around the rotation center axis with
a specified distance separated in relation to the first
transmission surface at the first core member, while the second
core member, at any position on the circumference, being arranged
so as to be in an opposite facing state in relation to at least one
of the plurality of partial core members so that electrical signal
transmission is possible using the electromagnetic induction
between the first coil head and the second coil head.
22. The robot according to claim 21, wherein the second core member
is in a shape extended partially in the circumference direction of
the first core member.
23. The robot according to claim 21, wherein a circumference
direction length of the plurality of partial core members are equal
to each other, and the first core member is constituted by the
plurality of partial core members being arranged separated by an
equal distance in the circumference direction on a concentric
circle.
24. The robot according to claim 21, wherein the plurality of
partial core members are in an arc shape having mutually equal
curvatures, and also, the second core member is in a shape
extending in the circumference direction having an equal curvature
to the partial core member.
25. The robot according to claim 21, wherein a dimension of the
first coil head in a direction facing opposite the second core
member is equal to a thickness dimension of the first support
member in the direction facing opposite the second core member, and
at the first support member, the first coil head is attached in an
inserted state inside a through hole placed penetrating in the
direction facing opposite the second core member.
26. The robot according to claim 21, wherein a dimension of the
second coil head in a direction facing opposite the first core
member is equal to a thickness dimension of the second support
member in the direction facing opposite the first core member, and
at the second support member, the second coil head is attached in
an inserted state inside a through hole placed penetrating in the
direction facing opposite the first core member.
27. The robot according to claim 21, wherein the first support
member is constituted by a plurality of partial support members
extending partially in the circumference direction, and the first
coil member is constituted by lead wires provided on each of these
partial support members being connected to each other.
28. The robot according to claim 27, wherein the first support
member is constituted by a pair of the partial support members
having a semicircle shape, and at the respective partial support
members, coil forming parts extending in the circumference
direction of the partial support member are formed at the lead
wires, and the partial core member is combined with the coil
forming part, and meanwhile, by bending back the lead wire at one
end part of the circumference direction of the partial support
member, and making it possible to connect the lead wire provided on
one of the partial support members to the lead wire provided on
another of the partial support members at another end part, the
first coil member is constituted by each of the coil forming parts
with these partial support members in a combined state.
29. The robot according to claim 21, wherein the first transmission
surface at the first core member and the second transmission
surface at the second core member are positioned facing opposite in
an axis direction of the rotation center axis.
30. The robot according to claim 21, wherein the first transmission
surface at the first core member and the second transmission
surface at the second core member are positioned facing opposite in
a direction orthogonal to an axis direction of the rotation center
axis.
31. The robot according to claim 21, wherein at least at one of the
first core member and the second core member, a high shielding
effect member having a high electromagnetic shielding effect is
arranged at an outer circumference except for the first
transmission surface or the second transmission surface.
32. The robot according to claim 31, wherein at least one of the
first support member and the second support member is the high
shielding effect member.
33. The robot according to claim 21, wherein the first coil unit
and the second coil unit are covered by a high shielding effect
member having a high electromagnetic shielding effect.
34. The robot according to claim 31, wherein the high shielding
effect member is formed from at least one of aluminum, copper,
iron, nickel, magnetite, gadolinium, cobalt, a ferrimagnetic body,
a conductive powder material, and a conductive coating
material.
35. The robot according to claim 21, wherein at least at one of the
first core member and the second core member, a low shielding
effect member having a low electromagnetic shielding effect is
arranged at an outer circumference except for the first
transmission surface or the second transmission surface.
36. The robot according to claim 35, wherein at least at one of the
first core member and the second core member, a high shielding
effect member having a high electromagnetic shielding effect is
arranged at the outer circumference except for the first
transmission surface or the second transmission surface, and also,
the low shielding effect member is arranged between the outer
circumference of the core member and the high shielding effect
member.
37. The robot according to claim 35, wherein the low shielding
effect member is formed from at least one of
polytetrafluoroethylene, epoxy resin, plastic, wood, paper, cloth,
a nonconductive coating material, reinforced plastic, glass,
natural resin, and synthetic resin.
38. The robot according to claim 21, wherein a plurality of sets
are equipped of the first coil unit and the second coil unit
set.
39. The robot according to claim 38, wherein the at least one first
coil head comprises a plurality of first coil heads, and the at
least one first coil unit comprises a plurality of first coil units
that are constituted as a single unit by providing the plurality of
first coil heads in concentric form on the first support
member.
40. The robot according to claim 39, wherein a pair of the first
coil heads having mutually equal diameter dimensions are
respectively arranged on both end parts of an axis direction of the
rotation center axis at the first support member attached to the
first member, and also, the at least one second coil head comprises
a pair of second coil heads corresponding to these first coil heads
and are arranged at sides facing opposite each other, sandwiching
the first support member in the axis direction of the rotation
center axis, and the first transmission surface at the first coil
head and the second transmission surface at the second coil head
are positioned facing opposite with a specified distance separated
from each other in the axis direction of the rotation center
axis.
41. The robot according to claim 21, wherein the robot is able to
transmit power in addition to the electrical signals using the
harnessless device.
Description
TECHNICAL FIELD
[0001] The present invention relates to a module for an automatic
tool exchange device used for automatic tool exchange devices for
which it is possible for a first coupling member attached to one of
either a robot main unit side or tool side and a second coupling
member attached to the other to be separated from and coupled to
each other, an automatic tool exchange device using that, and a
robot using that automatic tool exchange device.
BACKGROUND ART
[0002] Automation in the automotive industry, the aircraft industry
and the like is always advancing, and with the robots used for
this, through improvements in sensing technology, control
technology and the like, it is becoming possible to realize complex
work at a higher level. In recent years, for example, spot welding,
deburring, chassis lifting and the like in the automotive
manufacturing process are almost all done by robots, and the ratio
of work performed by robots in manufacturing processes is very
high.
[0003] However, specially preparing robots equipped with tools such
as spot welding guns used for welding, cutting tools used for
deburring, manipulators for handling chassis and the like is not
desirable from the perspective of the expense for building the
production line, factory space efficiency and the like.
[0004] In light of this, for example an automatic tool exchange
device noted in Patent Document 1 or Patent Document 2 is used.
This automatic tool exchange device is typically constituted so
that a first coupling member attached to one of either the robot
main unit side or the tool side and a second coupling member
attached to the other are able to be separated from and coupled to
each other. By doing this, tool exchange is possible, and it is
possible to handle a plurality of tools with one robot.
[0005] Then, depending on the used tools, various modules are
provided that, between the first coupling member and the second
coupling member, make it possible to transmit electrical signals or
power, or make it possible to supply a liquid or gas. These modules
are constituted in pairs of a first module attached detachably to
the first coupling member, and a second module attached detachably
to the second coupling member, and by coupling the first coupling
member and the second coupling member, the first module and second
module are coupled to each other. Then, in this coupled state, it
is possible to transmit electrical signals or power, or to supply
liquid or gas between the first module and the second module. Here,
the modules that make it possible to transmit electrical signals,
as noted in Patent Document 1, almost all have this performed by
the pin contact point by having a pin projecting from one of the
first and second modules be in contact with a terminal provided on
the other.
[0006] However, robots used in production factories have the tools
moved quickly to reduce takt time, so significant acceleration is
applied to the connecting parts of an automatic tool exchange
device. In light of this, many automatic tool exchange devices
allow a certain amount of play while maintaining the coupled status
between the first coupling member and the second coupling member in
order to reduce the load when moving with high acceleration.
Because of that, when large acceleration is applied to the
automatic tool exchange device, by the first module and the second
module being separated from each other, there was the risk of a
contact failure occurring because of a separation between the pin
and the terminal. A contact failure of the pin contact points
brings on electrical signal transmission failure, and was a cause
of a decrease in processing precision due to not correctly
obtaining various types of sensing information by the position
sensor attached on the robot, for example, or bringing on emergency
stopping of the robot in some cases, reducing production
efficiency.
[0007] Also, within a production factory, because work machines
such as a large number of robots are operating together with work
such as welding, painting, cleaning or the like being performed, it
is easy for this to become a high temperature, high humidity
environment, and for pin contact points, contact failure occurred
easily as well in a high temperature, high humidity environment.
Furthermore, because there is the risk of contact failure occurring
due to dust, slag or the like entering between the pin and the
terminal, the occurrence of wear, deformation, a film or the like
due to repeated connection, time and effort were required for
maintenance such as regular examination or cleaning of pin contact
points or the like. In addition, damage occurs easily due to the
pins projecting, so both members need to be aligned with good
precision so as not to break the pin when coupling the first
coupling member and the second coupling member, and the work of
exchanging tools required time.
[0008] To avoid these problems, for example as noted in Patent
Document 3, using data communication technology that is wireless
such as a wireless LAN or the like, it is possible to perform
sending and receiving of electrical signals on the robot main unit
side and the tool side. However, robots used in production
factories require high level real time properties to operate
quickly according to signals from the position sensor for accurate
aligning of tools or the like, for example. Nevertheless, wireless
data communication requires a large number of processes for the
generation of sending data packets on the sending side and the
restoring of data by the receiving side, and there is the risk of
losing responsiveness. Also, in an environment in which a large
number of robots are operating simultaneously, when attempting to
control each robot wirelessly, it is impossible to avoid the
problems of interference and noise mixing in, so this was not
realistic.
BACKGROUND ART DOCUMENTS
Patent Documents
[0009] Patent Document 1: JP-A-2004-1177
[0010] Patent Document 2: JP-A-2006-15429
[0011] Patent Document 3: JP-A-2007-514558
SUMMARY OF THE INVENTION
Problem the Invention Attempts to Solve
[0012] The present invention has been developed in view of the
above-described matters as the background, and it is an object of
the present invention to provide a module for an automatic tool
exchange device with a novel constitution which is able to perform
transmission of electrical signals with higher reliability while
preventing a decrease in transmission efficiency between a first
coupling member and a second coupling member.
[0013] Another object of the present invention is to provide an
automatic tool exchange device with a novel constitution that is
equipped with that kind of module for an automatic tool exchange
device. In addition, another object of the present invention is to
provide a robot with a novel constitution equipped with that kind
of automatic tool exchange device.
Means for Solving the Problem
[0014] Following are noted modes of the present invention made to
resolve the problems described above. Note that the structural
elements used in each mode noted below can be used freely in all
possible combinations.
[0015] Specifically, the first mode of the present invention
relating to the module for an automatic tool exchange device is a
module for an automatic tool exchange device used for an automatic
tool exchange device for which a first coupling member attached to
one of either a robot main unit side and a tool side and a second
coupling member attached to another are coupled to each other with
an ability to be separated, and includes a first module provided
detachably on the first coupling member and a second module
provided detachably on the second coupling member, for transmitting
electrical signals between the first coupling member and the second
coupling member by permitting transmission of electrical signals
between this first module and second module, characterized in that:
a core member is combined with a coil member and a transmission
surface including a magnetic path open surface formed by the core
member is provided, and an electromagnetic shielding member is
arranged on an outer circumference of the core member except for
the transmission surface, and also, interposed between the core
member and the electromagnetic shielding member is a gap member
having a lower electromagnetic shielding effect than the
electromagnetic shielding member, constituting at least one coil
head including the coil member, core member, and gap member, and
meanwhile, using a pair of coil units constituted containing the
coil head and the electromagnetic shielding member, by positioning
the core member transmission surfaces facing opposite each other,
constituted is an opposite facing type interface for performing
transmission of electrical signals using an electromagnetic
induction effect, and one of the coil units on the opposite facing
type interface is attached to the first module and another is
attached to the second module by which it is possible to transmit
electrical signals between the first module and the second
module.
[0016] If a module for an automatic tool exchange device
constituted according to this mode is used, it is possible to
electrically connect both modules in a mutual non-contact state by
placing the transmission surfaces provided on the pair of coil
units facing opposite each other. By doing this, even in a case
when excess acceleration occurs at the automatic tool exchange
device by the robot being quickly driven or the like, and both
modules are separated from each other, it is possible to reduce the
risk of contact failure such as of the pin contact points
occurring, and it is possible to perform stable transmission of
electrical signals or the like.
[0017] Furthermore, the automatic tool exchange device is an item
used to make tool exchange easy, so with the first coupling member
and the second coupling member that constitute the automatic tool
exchange device, coupling and uncoupling are repeated many times
and implemented frequently. In light of this, with this mode, since
there is no physical connecting part such as pin contact points, it
is possible to obtain excellent durability in relation to repeated
coupling and uncoupling. In addition, at the time of this coupling,
there is no need for high precision aligning of positions to each
other as is the case with pin contact points, so it is possible to
perform tool exchange work more quickly. Furthermore, it is
possible to avoid the problem of contact failure due to a high
temperature, high humidity environment, dust or the like, so it is
possible to perform high reliability transmission.
[0018] Also, with this mode, because electrical signal transmission
is performed using an electromagnetic inductance effect, the
separation distance of both transmission surfaces is relatively
small. Therefore, there is little risk of interference or the risk
of noise mixing in with transmission using data communication
technology such as wireless LAN or the like, for example, as noted
in Patent Reference 3 described previously, and it is possible to
obtain high reliability. Furthermore, during transmission, since
performing complex data processing is also not necessary, it is
possible to perform transmission quickly, and this is favorably
used in robots requiring a high level of real time properties.
[0019] Then, specifically with this mode, an electromagnetic
shielding member is arranged on the outer circumference of the core
member, so there is reduced risk of noise mixing in due to external
electromagnetic waves, and there is also reduced risk of
electromagnetic waves that occur between both coil heads having an
adverse effect on external apparatuses. Furthermore, specifically
with this mode, between the core member and the electromagnetic
shielding member is interposed a gap member having a lower
electromagnetic shielding effect than the electromagnetic shielding
member. Here, the electromagnetic shielding effect means shield
effectiveness in relation to electromagnetism including electric
fields and magnetic fields, and is expressed by the rate of change
size (absolute value) expressed by (Formula 1) noted below. Note
that in (Formula 1) noted below, E.sub.out indicates the output
electric field strength (V/m), and E.sub.in indicates the incident
electric field strength (V/m).
Change rate=20 log (E.sub.out/E.sub.in) (Formula 1)
[0020] Then, by interposing this gap member, there is no direct
contact of the electromagnetic shielding member on the outer
circumference surface of the core member, and this is arranged
separated by a specified distance. By doing this, the risk of the
electromagnetic waves from the core member being absorbed by the
electromagnetic shielding member and the like is reduced, and it
becomes possible to gather more magnetic flux at the transmission
surface, and it is also possible to reduce the risk of the
electromagnetic energy of the coil head decreasing due to the
occurrence of an eddy current by the lines of magnetic force that
enter the electromagnetic shielding member and the like. As a
result, it is possible to perform transmission with higher
reliability, and even when the separation distance of both
transmission surfaces becomes even bigger, it is possible to
perform transmission of electrical signals and the like with more
stability. Note that specifically with this mode, as the gap
member, a member with a small magnetic permeability can be
favorably used. By working in this way, by making the external
magnetic permeability of the core member sufficiently low, it is
possible to suppress the leaking out of lines of magnetic force
from the outer circumference surface other than the transmission
surface with the core member, and it is possible to further
increase transmission reliability.
[0021] A second mode of the present invention relating to a module
for an automatic tool exchange device is a module for an automatic
tool exchange device of the first mode, characterized in that the
core member is a round cylinder shape equipped with a circumference
groove that opens in one axis direction, and that the transmission
surface is constituted by an open side end surface of the
circumference groove by the coil member being arranged inside the
circumference groove.
[0022] With this mode, the direction of the coil member axis
attached to the core member is roughly equal to the core member
axis direction, so it is possible to make the direction of the
lines of magnetic force generated from the coil member be roughly
the same as the core member axis direction, and it is possible to
effectively gather lines of magnetic force at the transmission
surface formed on the core member axis direction end part.
[0023] A third mode of the present invention relating to the module
for an automatic tool exchange device is the module for an
automatic tool exchange device of the first or second mode,
characterized in that the transmission surfaces for the pair of
coil units are able to be in contact with each other with the first
coupling member and the second coupling member in a coupled
state.
[0024] With this mode, it is possible to perform transmission with
higher reliability. Then, the automatic tool exchange device,
different from the movable parts of a robot or the like, have both
coupling member relative displacement occur only in exceptional
cases, so even if both transmission surfaces are in a contact
state, there is little concern about wear or the like due to
rubbing each other. Note that both transmission surfaces with this
mode can always maintain a contact state even in cases when a large
acceleration is applied to the automatic tool exchange device and
separation occurs between both modules, for example, and in such a
case, it is possible to have both transmission surfaces temporarily
separate.
[0025] A fourth mode of the present invention relating to a module
for an automatic tool exchange device is a module for an automatic
tool exchange device of any one of the first through third modes,
characterized in that the one of the pair of coil units is provided
fixed to one of either the first module and the second module, and
the other of the pair of coil units is provided via an elastic
support member to be able to be displaced along a specified range
in an opposite facing direction of the pair of coil units in
relation to another of the first module and the second module.
[0026] With this mode, from the fact that one of the coil units can
be displaced in the opposite facing direction, in the state with
the first module and the second module coupled, it is possible to
absorb the coil unit's transient proximity and separation. Then,
rather than providing an elastic support member on both modules, it
is possible to reduce the manufacturing cost by providing it on
only one or the other module.
[0027] A fifth mode of the present invention relating to a module
for an automatic exchange device is a module for an automatic tool
exchange device of the fourth mode, characterized in that the
elastic support member is constituted by an energizing member
energizing the coil unit provided on one of either the first module
and the second module in a state projecting toward the other of the
first module and the second module.
[0028] With this mode, with the first coupling member and the
second coupling member in a coupled state, even in a case when a
gap occurs between the first module and the second module, or a
case when transient acceleration is applied and both modules are
separated from each other, it is possible to maintain from between
a contact state of both transmission surfaces to a suitably
separated distance. Note that as the energizing member for this
mode, for example, a coil spring or plate spring, or a rubber
elastic body or the like can be favorably used.
[0029] A sixth mode of the present invention relating to a module
for an automatic tool exchange device is a module for an automatic
tool exchange device of the fifth mode, characterized in that a
maximum projecting volume of the coil unit made to project by the
energizing member is larger than a maximum separation volume of the
first module and the second module in the opposite facing direction
of the coil units.
[0030] With this mode, it is possible to have the transmission
surfaces of both coil units in a contact state, as well as to
maintain the contact state of both transmission surfaces even in a
case when there is a large separation between the first module and
the second module in the opposite facing direction when a large
acceleration is applied to the automatic tool exchange device or
the like, for example, and it is possible to maintain transmission
with higher reliability.
[0031] A seventh mode of the present invention relating to a module
for an automatic tool exchange device is a module for an automatic
tool exchange device of the fifth or sixth mode, characterized in
that the energizing member is constituted including a coil spring
that applies energizing force to the coil unit, and a locking part
that locks the coil unit and blocks detachment from the first
module or the second module.
[0032] With this mode, it is possible to apply an effective
energizing force to the coil unit using the coil spring, and it is
also possible to set the projecting volume of the coil unit with
good precision.
[0033] An eighth mode of the present invention relating to a module
for an automatic tool exchange device is a module for an automatic
tool exchange device of the seventh mode, characterized in that the
module further comprises a holder that holds the coil unit, the
energizing member for applying energizing force to the coil unit
using restoration force of the coil spring is constituted by
pushing through the coil spring inside the holder from an opening
part opened to a side opposite the transmission surface of the coil
unit at the holder, and by compression deforming the coil spring
between a lid member that plugs the opening part and the coil
unit.
[0034] By working in this way, it is possible to easily attach the
coil spring that applies energizing force to the coil unit inside
the module, and it is possible to easily constitute the energizing
member.
[0035] A ninth mode of the present invention relating to a module
for an automatic tool exchange device is a module for an automatic
tool exchange device of any one of the first through eighth modes,
characterized in that one of the transmission surfaces of the pair
of coil units is made to be larger than another of the transmission
surfaces in a direction orthogonal to the direction facing opposite
the other of the transmission surfaces.
[0036] With this mode, even in a case when the pair of coil units
are displaced in a direction orthogonal to the opposite facing
direction by the application of large acceleration to the automatic
tool exchange device or the like, for example, it is possible to
maintain the opposite facing state of the transmission surfaces of
both coil units, and it is possible to perform more stable
transmission.
[0037] A tenth mode of the present invention relating to a module
for an automatic tool exchange device is a module for an automatic
tool exchange device of the ninth mode, characterized in that,
compared to the other of the transmission surfaces, the one of the
transmission surfaces of the pair of coil units is larger than a
maximum displacement volume between the first module and the second
module in the direction orthogonal to the opposite facing direction
of the coil units.
[0038] Working in this way, it is possible to always maintain the
opposite facing status of both coil unit transmission surfaces, and
it is possible to perform transmission with even higher
reliability.
[0039] An eleventh mode of the present invention relating to a
module for an automatic tool exchange device is a module for an
automatic tool exchange device of any one of the first through
tenth modes, characterized in that the coil unit of each of the
first module and second module includes the at least one coil head
comprising a plurality of coil heads.
[0040] With this mode, particular electrical signals are made to be
transmitted by each coil head, and it is possible to transmit a
plurality of electrical signals. By doing this, for example by
providing three coil heads on the coil unit, the servo motor
encoder signals A phase output signal, B phase output signal, and Z
phase output signal are respectively allocated to each coil head,
and it is possible to transmit these three electrical signals
between both modules, for example.
[0041] A twelfth mode of the present invention relating to a module
for an automatic tool exchange device is a module for an automatic
tool exchange device of any one of the first through eleventh
modes, characterized in that the respective first module and second
module include other coil units so as to have the plurality of coil
heads.
[0042] With this mode as well, it is possible to provide a
plurality of coil heads, and it is possible to perform transmission
of a plurality of electrical signals. Of course, combining this
mode with the eleventh mode makes it possible to provide a
plurality of coil units equipped with a plurality of coil
heads.
[0043] A thirteenth mode of the present invention relating to a
module for an automatic tool exchange device is a module for an
automatic tool exchange device of the eleventh or twelfth modes,
characterized in that the module is able to transmit power in
addition to the electrical signals, and the plurality of coil heads
are constituted including a coil head for power for transmitting
power and a coil head for signals for transmitting signals.
[0044] With this mode, it is possible to perform transmission of
power in addition to electrical signals between the first module
and the second module. By doing this, it is possible to supply the
drive power of an apparatus driven at relatively low power such as
a sensor, for example, and it is possible to further reduce the
number of cables.
[0045] A fourteenth mode of the present invention relating to a
module for an automatic tool exchange device is a module for an
automatic tool exchange device of the thirteenth mode,
characterized in that the transmission surface of the coil head for
power is larger than the transmission surface of the coil head for
signals.
[0046] To transmit power that can drive an apparatus such as a
sensor or the like, it is necessary to have greater induced
electromotive force in relation to the transmission of electrical
signals, so a greater change in volume of magnetic flux is needed.
Therefore, by using a constitution like this mode, it is possible
to advantageously obtain the necessary magnetic flux change volume
for transmitting power.
[0047] A fifteenth mode of the present invention relating to a
module for an automatic tool exchange device is a module for an
automatic tool exchange device of any one of the first through
fourteenth modes, characterized in that the module is able to
transmit power in addition to electrical signals.
[0048] Specifically, it is acceptable to provide a plurality of
coil heads and use those divided into coil heads for power and coil
heads for signals, but as with this mode, even when only a pair of
coil heads is equipped, it is also possible to transmit power using
that pair of coil heads.
[0049] A sixteenth mode of the present invention relating to a
module for an automatic tool exchange device is a module for an
automatic tool exchange device of any one of the first through
fifteenth modes, characterized in that as the electrical signals,
at least one of a sensor signal, encoder signal, and serial signal
is included.
[0050] By working in this way, it is possible to advantageously
constitute a signal delivery path of various sensors such as a
photoelectric sensor, ultrasonic sensor or the like or a servo
motor or the like using a module for an automatic tool exchange
device according to the present invention.
[0051] A seventeenth mode of the present invention relating to a
module for an automatic tool exchange device is a module for an
automatic tool exchange device of any one of the first through
sixteenth modes, characterized in that the electromagnetic
shielding member is formed from at least one of aluminum, copper,
iron, nickel, magnetite, gadolinium, cobalt, a ferrimagnetic body,
a conductive powder material, and a conductive coating material.
With this mode, it is possible to obtain a good electromagnetic
shielding effect.
[0052] An eighteenth mode of the present invention relating to a
module for an automatic tool exchange device is a module for an
automatic tool exchange device of any one of the first through
seventeenth modes, characterized in that the gap member is formed
from at least one of polytetrafluoroethylene, epoxy resin, plastic,
wood, paper, cloth, a nonconductive coating material, reinforced
plastic, glass, natural resin, and synthetic resin. With this mode,
it is possible to advantageously inhibit magnetic flux leaked from
the coil head.
[0053] To characterize the present invention relating to an
automatic tool exchange device, for which a first coupling member
attached to one of either a robot main body side and a tool side
and a second coupling member attached to another are coupled to
each other with an ability to be separated, the device being
equipped with a module for an automatic tool exchange device of any
one of the first through eighteenth modes.
[0054] With this mode, using a module for an automatic tool
exchange device of any one of the first through eighteenth modes,
it is possible to perform transmission of electrical signals
between the first coupling member and the second coupling member.
By doing this, it is possible to reduce the risk of breakage of
pins due to relative displacement of both coupling members or of
bringing on a decrease in transmission quality due to dust or the
like such as with a pin connection or the like. Furthermore, by
specifically providing an electromagnetic shielding member at the
outer circumference of the core member, there is a reduced risk of
the automatic tool exchange device being affected by the noise from
outside or affecting the outside, and by providing a gap member
between the core member outer circumference and the electromagnetic
shielding member, it is possible to inhibit leaking of magnetic
flux from the outer circumference other than the transmission
surface at the core member, and to make the separation distance for
which transmission is possible with both transmission surfaces
bigger, so even in cases when a large acceleration is applied to
the first coupling member and the second coupling member and they
are separated from each other, it is possible to perform more
stable transmission.
[0055] A characteristic of the first mode of the present invention
relating to a robot is that it is equipped with the aforementioned
automatic tool exchange device.
[0056] With this kind of robot, it is possible to reduce the number
of cables run for transmitting electrical signals, and it is
possible to make the overall size of the robot more compact.
Furthermore, since there is low risk of wear that comes with a
curve or the like such as with a cable or the like, it is also
possible to improve maintenance properties. Then, because a high
level wireless communication technology or the like is not
necessary, it is possible to reduce the manufacturing cost, and in
an environment in which a large number of robots are operating as
well, it is possible to avoid the risk of interference or the like,
and it is possible to perform transmission with high
reliability.
[0057] A second mode of the present invention relating to a robot
is a robot of the first mode, further comprising: a first member
and a second member coupled by a rotation axis and made to be able
to rotate relative to each other around the rotation axis; and a
harnessless device being constituted including at least one first
coil unit attached to the first member and at least one second coil
unit attached to the second member, wherein: the first coil unit
includes a first core member being constituted by a plurality of
partial core members being arranged mutually separated on a
circumference, and also, at least one first coil head being
constituted by a first coil member extending on the circumference
on which the plurality of partial core members are arranged being
attached to the first core member, and a first transmission surface
consisting of a magnetic path open surface being formed by the
partial core member at the first coil head, the first coil unit
being constituted by the plurality of the partial core members
being arranged in a circular form on a first support member by the
first coil head being supported on the first support member; the
second coil unit includes a second core member being constituted
with a circumference direction length greater than a maximum value
of a circumference direction separation distance of the partial
core members adjacent in the circumference direction at the first
core member, and also, at least one second coil head being
constituted by a second coil member being attached to the second
core member, and a second transmission surface consisting of a
magnetic path open surface being formed by the second core member
at the second coil head, the second coil unit being constituted by
having the second coil head supported by a second support member;
and by attaching the first coil unit to the first member being a
state with the first core member placed coaxially with a rotation
center axis of the rotation axis, and also, by attaching the second
coil unit to the second member, the second transmission surface at
the second core member is positioned facing opposite and able to
rotate relative to each other around the rotation center axis with
a specified distance separated in relation to the first
transmission surface at the first core member, while the second
core member, at any position on the circumference, being arranged
so as to be in an opposite facing state in relation to at least one
of the plurality of partial core members so that electrical signal
transmission is possible using the electromagnetic induction
between the first coil head and the second coil head.
[0058] With this mode, providing cables that straddle the first
member and the second member to transmit electrical signals becomes
unnecessary. By doing this, it becomes possible to endlessly rotate
the first member and the second member around the rotation axis
while maintaining an electrical connection. Then, because the cable
becomes unnecessary, it is also unnecessary to bend the cable and
arrange it, and it is possible to make the robot constituted
including the first member and the second member more compact.
[0059] Furthermore, from the fact that the first transmission
surface of the first core member and the second transmission
surface of the second core member are in a mutual non-contact
state, it is possible to avoid wear due to repeated rubbing or the
like that comes with mutual displacement, and it is possible to
obtain excellent durability.
[0060] In addition, from the fact that electrical signal
transmission is performed using an electromagnetic coupling between
the first coil head and second coil head placed facing each other,
the separation distance of the transmission surfaces of both coil
heads is relatively small. Therefore, there is a low risk of the
kind of interference or risk of noise mixing in as with
transmission using data communication technology such as wireless
LAN or the like noted in Patent Reference 3 described previously,
for example, and it is possible to obtain high reliability.
Furthermore, during transmission, it is not necessary to perform
complex data processing, so it is possible to perform fast
transmission, and this can be suitably used for the joint parts of
robots that require a high level of real time properties.
[0061] Furthermore, specifically with this mode, the first core
member is formed from a plurality of partial core members and is
divided in the circumference direction. By doing this, it is
possible to lighten the weight of the first core member, and it is
also possible to reduce the manufacturing cost. Furthermore,
compared to when using a core member continuous in the
circumference direction, it is possible to inhibit dispersion of
magnetic flux and to focus the magnetic flux on the transmission
surface of each partial core member, and it is possible to perform
more stable transmission of electrical signals. Also, it becomes
easier for the electromagnetic waves flowing inside the core to be
converted to heat or the like inside the core as the frequency
become higher, and to cause attenuation. In light of that, by
dividing the core in the circumference direction and making the
circumference direction length short, it is possible to reduce the
volume of electromagnetic waves attenuated within the core, making
it possible to perform higher reliability transmission.
[0062] Note that the partial core member of this mode can extend to
an arc shape with a specified curvature, but it is also possible to
arrange a partial core member extending in a straight line form
onto a circle or the like. Also, for the second core member as
well, it is possible to extend on an arc shape with a specified
curvature, and also to be an item extending in a straight line
form.
[0063] A third mode of the present invention relating to a robot is
a robot of the second mode, characterized in that the second core
member is in a shape extended partially in the circumference
direction of the first core member. By working in this way, from
the fact that it is possible to make the dimensions of the second
core member smaller, it is possible to decrease the weight of the
second coil unit as well. Also, compared to a core member that
continues around the entire circumference, it is possible to
inhibit magnetic flux dispersion and attenuation, and it is
possible to perform higher reliability transmission.
[0064] A fourth mode of the present invention relating to a robot
is a robot of the second or third mode, characterized in that a
circumference direction length of the plurality of partial core
members are equal to each other, and the first core member is
constituted by the plurality of partial core members being arranged
separated by an equal distance in the circumference direction on a
concentric circle.
[0065] By working in this way, from the fact that partial core
members are arranged evenly on the circumference of the first core
member, it is possible to inhibit a large bias in the distribution
of magnetic flux in the circumference direction of the first core
member, and it is possible to perform more stable transmission.
[0066] A fifth mode of the present invention relating to a robot is
a robot of any one of the second through fourth modes,
characterized in that the plurality of partial core members are in
an arc shape having mutually equal curvatures, and also, the second
core member is in a shape extending in the circumference direction
having an equal curvature to the partial core member.
[0067] With this mode, when doing relative rotation of the second
core member in relation to the partial core member, it is possible
to maintain a high level of the opposite facing state of the first
transmission surface of the partial core member and the second
transmission surface of the second core member. By doing this, it
is possible to perform higher reliability transmission.
[0068] A sixth mode of the present invention relating to a robot is
a robot of any one of the second through fifth modes, characterized
in that a dimension of the first coil head in a direction facing
opposite the second core member is equal to a thickness dimension
of the first support member in the direction facing opposite the
second core member, and at the first support member, the first coil
head is attached in an inserted state inside a through hole placed
penetrating in the direction facing opposite the second core
member.
[0069] With this mode, in the first core member and the second core
member opposite facing direction, the dimension of the through hole
placed penetrating the first support member and the dimension of
the first coil head are made equal, so by having the first coil
head fitted into the through hole, the end surface of the partial
core member constituting the first coil head, the another way, the
first transmission surface, can be easily aligned to the end
surface of the first support member. Then, since it is easy to
align the end surfaces of the respective plurality of partial core
members to the end surface of the same first support member, it is
possible to have the separation distance of the second core member
and partial core member in the opposite facing direction be roughly
constant along the entire circumference of the first core member.
By doing this, it is possible to inhibit bias of magnetic flux in
the circumference direction of the first core member, and it is
possible to perform more stable transmission.
[0070] A seventh mode of the present invention relating to a robot
is a robot of any one of the second through sixth modes,
characterized in that a dimension of the second coil head in a
direction facing opposite the first core member is equal to a
thickness dimension of the second support member in the direction
facing opposite the first core member, and at the second support
member, the second coil head is attached in an inserted state
inside a through hole placed penetrating in the direction facing
opposite the first core member.
[0071] With this mode, in the first core member and second core
member opposite facing direction, because the dimension of the
through hole placed penetrating the second support member and the
dimension of the second coil head are equal, by having the second
coil head fitted into the through hole, the end surface of the
second core member constituting the second coil head, the another
way, the second transmission surface, can be aligned easily to the
end surface of the second support member.
[0072] An eighth mode of the present invention relating to a robot
is a robot of any one of the second through seventh modes,
characterized in that the first support member is constituted by a
plurality of partial support members extending partially in the
circumference direction, and the first coil member is constituted
by lead wires provided on each of these partial support members
being connected to each other.
[0073] With this mode, by attaching the plurality of partial
support members to each other sandwiching the rotation center axis
of the rotation axis, it is possible to constitute the first coil
member positioned coaxially with the rotation center axis of the
rotation axis. By doing this, for example on existing robots or the
like, it is possible to easily attach the harnessless device.
[0074] A ninth mode of the present invention relating to a robot is
a robot of the eighth mode, characterized in that the first support
member is constituted by a pair of the partial support members
having a semicircle shape, and at the respective partial support
members, coil forming parts extending in the circumference
direction of the partial support member are formed at the lead
wires, and the partial core member is combined with the coil
forming part, and meanwhile, by bending back the lead wire at one
end part of the circumference direction of the partial support
member, and making it possible to connect the lead wire provided on
one of the partial support members to the lead wire provided on
another of the partial support members at another end part, the
first coil member is constituted by each of the coil forming parts
with these partial support members in a combined state.
[0075] With this mode, it is possible to form the first support
member simply by combining a pair of the partial support members,
so it is possible to easily attach the first support member to the
first member, and also, it is possible to easily form the first
coil member.
[0076] Note that as the opposite facing direction of the first
transmission surface and the second transmission surface, as the
tenth mode of the present invention relating to a robot, with a
robot of any one of the second through ninth modes, it is possible
to use a mode for which the first transmission surface at the first
core member and the second transmission surface at the second core
member are positioned facing opposite in an axis direction of the
rotation center axis, or alternatively, as an eleventh mode of the
present invention relating to a robot, with a robot of any one of
the second through ninth modes, it is possible to use any mode for
which the first transmission surface at the first core member and
the second transmission surface at the second core member are
positioned facing opposite in a direction orthogonal to an axis
direction of the rotation center axis.
[0077] A twelfth mode of the present invention relating to a robot
is a robot of any one of the second through eleventh modes,
characterized in that at least at one of the first core member and
the second core member, a high shielding effect member having a
high electromagnetic shielding effect is arranged at an outer
circumference except for the first transmission surface or the
second transmission surface.
[0078] Here, the electromagnetic shielding effect means a shield
effect in relation to electromagnetism including electric fields
and magnetic fields expressed by [Formula 1] noted above. Then, a
high electromagnetic shield effect means typically a shield effect
of a level that can be used as an electromagnetic shielding member,
and in specific terms, the shield effect is 30 dB or greater, and
more preferably is 60 dB or greater. With this mode, it is possible
to inhibit the first core member and the second core member being
affected by electromagnetic waves from outside, and it is possible
to perform more stable electrical signal transmission. It is also
possible to inhibit the effect of electromagnetic waves generated
from the first coil head or the second coil head on other
electronic parts.
[0079] A thirteenth mode of the present invention relating to a
robot is a robot of the twelfth mode, characterized in that at
least one of the first support member and the second support member
is the high shielding effect member. With this mode, it is not
necessary to specially provide the electromagnetic shielding
member, and it is possible to reduce the number of parts.
[0080] A fourteenth mode of the present invention relating to a
robot is a robot of any one of the second through thirteenth modes,
characterized in that the first coil unit and the second coil unit
are covered by the high shielding effect member having a high
electromagnetic shielding effect.
[0081] With this mode, it is possible to protect roughly the entire
harnessless device from the noise of electromagnetic waves, and
also, it is possible to more effectively inhibit the effect of
electromagnetic waves generated from the harnessless device on
other electronic parts.
[0082] A fifteenth mode of the present invention relating to a
robot is a robot of any one of the twelfth through fourteenth
modes, characterized in that the high shielding effect member is
formed from at least one of aluminum, copper, iron, nickel,
magnetite, gadolinium, cobalt, a ferrimagnetic body, a conductive
powder material, and a conductive coating material. With this mode,
it is possible to obtain a good electromagnetic shielding
effect.
[0083] A sixteenth mode of the present invention relating to a
robot is a robot of any one of the second through fifteenth modes,
characterized in that at least at one of the first core member and
the second core member, a low shielding effect member having a low
electromagnetic shielding effect is arranged at the outer
circumference except for the first transmission surface or the
second transmission surface.
[0084] Here, a low electromagnetic shielding effect typically means
a shield effect that is difficult to use as an electromagnetic
shield member, and in specific terms, means an item for which the
shield effect is 30 dB or less, and more desirably 20 dB or less.
Then, with this mode, there is a decrease in the magnetic flux that
leaks out from the low shielding effect member or the outer
circumferences except for the transmission surface of the core
member, and the magnetic flux is focused on the transmission
surface of the core member, so it is possible to perform higher
reliability transmission. Note that specifically with this mode, as
the low shielding effect member, it is desirable to use a member
with a low magnetic permeability. By working in this way, by making
the core member outside magnetic permeability sufficiently small,
it is possible to inhibit the outflow of magnetic force lines from
the outer circumference surface other than the transmission surface
at the core member, and it is possible to increase the transmission
reliability.
[0085] A seventeenth mode of the present invention relating to a
robot is a robot of the sixteenth mode, characterized in that at
least at one of the first core member and the second core member, a
high shielding effect member having a high electromagnetic
shielding effect is arranged at the outer circumference except for
the first transmission surface or the second transmission surface,
and also, the low shielding effect member is arranged between the
outer circumference of the core member and the high shielding
effect member.
[0086] With this mode, by interposing the low shielding effect
member between the core member outer circumference and the high
shielding effect member, the high shielding effect member is
arranged separated by a specified distance without being in direct
contact with the outer circumference surface of the core member. By
doing this, the risk of the electromagnetic waves emitted from the
core member being absorbed by the high shielding effect member and
the like is reduced, and it becomes possible to focus a higher
amount of the magnetic flux on the transmission surface, and also,
it is possible to reduce the risk of a decrease in the
electromagnetic energy of the coil head due to the occurrence of
eddy current by magnetic lines of force entering the high shielding
effect member or the like. As a result, it is possible to perform
higher reliability transmission, and even in a case when the
separation distance of both transmission surfaces is bigger, it is
possible to perform more stable transmission of electrical signals
and the like.
[0087] An eighteenth mode of the present invention relating to a
robot is a robot of the sixteenth or seventeenth mode,
characterized in that the low shielding effect member is formed
from at least one of polytetrafluoroethylene, epoxy resin, plastic,
wood, paper, cloth, a nonconductive coating material, reinforced
plastic, glass, natural resin, and synthetic resin. With this mode,
it is possible to advantageously inhibit the effect of magnetic
flux leaked from the core member.
[0088] A nineteenth mode of the present invention relating to a
robot is a robot of any one of the second through eighteenth modes,
characterized in that a plurality of sets are equipped of the first
coil unit and the second coil unit set.
[0089] With this mode, it is possible to transmit different
electrical signals for each set of the first coil unit and the
second coil unit, and it is possible to transmit a plurality of
electrical signals simultaneously and with high reliability.
[0090] A twentieth mode of the present invention relating to a
robot is a robot of the nineteenth mode, characterized in that the
at least one first coil head comprises a plurality of first coil
heads, and the at least one first coil unit comprises a plurality
of first coil units that are constituted as a single unit by
providing the plurality of first coil heads in concentric form on
the first support member.
[0091] With this mode, from the fact that the first support member
is used in common by a plurality of the first coil units, it is
possible to reduce the number of parts and lighten the weight, and
also, it is possible to handle a plurality of coil units as a
single unit, so manufacturing such as attaching to the first member
is easier.
[0092] A twenty-first mode of the present invention relating to a
robot is a robot of the twentieth mode, characterized in that a
pair of the first coil heads having mutually equal diameter
dimensions are respectively arranged on both end parts of the axis
direction of the rotation center axis at the first support member
attached to the first member, and also, the at least one second
coil head comprises a pair of second coil heads corresponding to
these first coil heads and are arranged at sides facing opposite
each other, sandwiching the first support member in the axis
direction of the rotation center axis, and the first transmission
surface at the first coil head and the second transmission surface
at the second coil head are positioned facing opposite with a
specified distance separated from each other in the axis direction
of the rotation center axis.
[0093] With this mode, by providing the first coil head at both
surfaces of the first support member, it is possible to arrange
with good space efficiency a pair of the first coil heads having
the same diameter dimensions to each other.
[0094] A twenty-second mode of the present invention relating to a
robot is a robot of any one of the second through twenty-first
modes, characterized in that it is possible to transmit power in
addition to the electrical signals using the harnessless device.
With this mode, it is possible to supply drive force to electronic
parts that can be driven by relatively low power such as various
types of sensor or the like, for example.
BRIEF DESCRIPTION OF THE DRAWINGS
[0095] FIG. 1 is a view showing a robot equipped with an automatic
tool exchange device as a first embodiment of the present
invention.
[0096] FIG. 2 is a front view showing a first coupling member.
[0097] FIG. 3 is a front view showing a second coupling member.
[0098] FIG. 4 is a front view showing a coil unit and a holder.
[0099] FIG. 5 is a cross section view taken along line 5-5 of FIG.
4.
[0100] FIG. 6 is an enlarged cross section view of key parts of the
automatic tool exchange device.
[0101] FIG. 7 is a cross section view showing a harnessless
device.
[0102] FIG. 8 is a view showing a first coil unit constituting the
harnessless device.
[0103] FIG. 9 is a view showing a second coil unit constituting the
harnessless device.
[0104] FIG. 10 is an enlarged cross section view of key parts of
the harnessless device.
[0105] FIG. 11 is a left side view of key parts of the robot
produced using a constitution according to the embodiment shown in
FIG. 1.
[0106] FIG. 12 is a right side view of the key parts of the robot
shown in FIG. 11.
[0107] FIG. 13 is a cross section view showing a different mode of
a core member provided in a module for an automatic tool exchange
device.
[0108] FIG. 14 is a view showing a different mode of the coil unit
provided on the module for an automatic tool exchange device.
[0109] FIG. 15 is a view showing a different mode of the first coil
unit used for the harnessless device.
[0110] FIGS. 16A and 16B are views showing yet a different mode of
the same first coil unit.
[0111] FIG. 17 is a front view showing a different mode of a
partial core member used for the harnessless device.
[0112] FIG. 18 is a view showing a different arrangement mode of a
first coil head and a second coil head used for the harnessless
device.
[0113] FIG. 19 is a view showing yet a different arrangement mode
of the first coil head and the second coil head used for the
harnessless device.
[0114] FIG. 20 is a view showing yet a different arrangement mode
of the first coil head and the second coil head used for the
harnessless device.
[0115] FIG. 21 is a view showing yet a different arrangement mode
of the first coil head and the second coil head used for the
harnessless device.
[0116] FIG. 22 is a view showing yet a different arrangement mode
of the first coil head and the second coil head used for the
harnessless device.
EMBODIMENTS FOR CARRYING OUT THE INVENTION
[0117] Following, to further clarify the present invention more
specifically, embodiments of the present invention are described in
detail while referring to the drawings.
[0118] First, shown in model form in FIG. 1 is a robot 12 equipped
with a tool changer 10 of an automatic tool exchange device as an
embodiment of the present invention. The robot 12 is constituted
with a tool 18 provided at the tip of an arm member 16 equipped
with a plurality of joints 14a through 14d. As the tool 18, for
example, it is possible to use various prior well known types of
tools such as cutting tool or manipulator used for debarring or the
like, and in this embodiment, a spot welding gun used for spot
welding is used. Then, this tool 18 is electrically connected to a
controller 20 provided on the main unit side of the robot 12, and
it is possible to transmit electrical signals such as control
signals or the like between the tool 18 and the controller 20.
[0119] In more detail, the tool 18 is provided detachably on an arm
member 16 via a tool changer 10 as the automatic tool exchange
device. The tool changer 10 is constituted containing a robot side
adapter 22 as a first coupling member, and a tool side adapter 24
as a second coupling member, and while the robot side adapter 22 is
attached to the main unit side of the robot 12, the tool side
adapter 24 is provided on the tool 18 side. Then, by having the
robot side adapter 22 and the tool side adapter 24 coupled so as to
be able to be detached from each other, the tool 18 is attached to
the robot 12 in a detachable manner.
[0120] FIG. 2 shows the robot side adapter 22 in model form, and
FIG. 3 shows the tool side adapter 24 in model form. Note that in
FIG. 2, FIG. 3, and in FIG. 4 described later, to make it easier to
understand, these are shown with omission of the protective member
63 described later. A chuck 25 projecting in a cylinder shape is
provided at the center part of the robot side adapter 22, and this
chuck 25 is inserted into a coupling hole 26 provided at the center
part of the tool side adapter 24, and by having a cam (not
illustrated) projecting outward in the diameter direction from the
chuck 25 and latched inside the coupling hole 26, the robot side
adapter 22 and the tool side adapter 24 are coupled to each other.
Also, a plurality (with this embodiment, three) of alignment pins
27 formed projecting as a single unit are formed in the
circumference direction on the robot side adapter 22, and alignment
of the robot side adapter 22 and the tool side adapter 24 in the
circumference direction is performed by the alignment pin 27 being
inserted in an alignment hole 28 formed on the tool side adapter
24.
[0121] On the robot side adapter 22 and the tool side adapter 24
are respectively attached detachably a pair of various modules for
an automatic tool exchange device according to the type of tool 18
used, and the like. With this embodiment, as the module for an
automatic tool exchange device, one of the three pairs of modules,
signal feed modules 30a and 30b, power feed modules 32a and 32b,
and air feed modules 34a and 34b, are attached detachably to the
robot side adapter 22, and the other is attached detachably to the
tool side adapter 24, respectively, using a set screw or the
like.
[0122] The power feed modules 32a and 32b are a pair of prior known
modules for power feed, for example. One module 32a includes a
power feed pin 36 provided in a projecting state for supplying
power of the necessary size for welding or the like, and the other
module 32b includes a flat terminal 38 with which the power feed
pin 36 is in contact and electrically connected. Then, one module
32a is attached to the robot side adapter 22, while the other
module 32b is attached to the tool side adapter 24.
[0123] Also, the air feed modules 34a and 34b are for example a
pair of prior known modules for air feed. One module 34a includes
an air feed pin 40 provided in a projecting state to supply air
such as pressurized air or the like, for example, and the other
module 34b includes a socket 42 in which the air feed pin 40 is
inserted and which is connected to the air feed pin 40. Then, one
module 34a is attached to the robot side adapter 22, and the other
module 34b is attached to the tool side adapter 24.
[0124] In light of this, the signal feed modules 30a and 30b are
modules for an automatic tool exchange device as an embodiment of
the present invention, and as the first module, the signal feed
module 30a is attached to the robot side adapter 22, and as the
second module, the signal feed module 30b is attached to the tool
side adapter 24.
[0125] The signal feed module 30a is equipped with a primary side
coil unit 44 shown in model form in FIG. 4 and FIG. 5. The primary
side coil unit 44 is constituted with one primary side coil head
for power 46 as the coil head for power and a plurality of (with
this embodiment, five) primary side coil heads for signals 48a
through 48e as the coil heads for signals provided in a case 50 as
the electromagnetic shielding member.
[0126] The primary side coil head for power 46 is constituted with
a gap member 56 attached to the outer circumference of a core
member 54 to which a coil member 52 is attached. The core member 54
is a so-called pot-shaped core formed from a ferromagnetic material
such as ferrite or the like, for example, and the overall item
equipped with a through hole 58 that passes through on the center
axis has a roughly round cylinder shape. Furthermore, a lead groove
62 as a circumference groove extending along the entire
circumference and opening to one end surface 60 of the axis
direction (the lateral direction in FIG. 5) is formed on the core
member 54.
[0127] Then, the coil member 52 is formed by having a lead wire
formed by copper or the like for example inside the lead groove 62
being wound a specified number of times, and this coil member 52 is
attached to the core member 54 so as to extend in the circumference
direction of the core member 54 along the lead groove 62. By doing
this, the magnetic path of the coil member 52 is formed by the core
member 54, and the end surface 60 that is the open end surface of
the lead groove 62 on the core member 54 is the transmission
surface.
[0128] Note that in a state with the coil member 52 held, provided
at the aperture part of the lead groove 62 is a protective member
63 formed by a material with low magnetic permeability such as
epoxy resin or the like for example, and the coil member 52 is
protected from contact or the like with other members by the
protective member 63.
[0129] Furthermore, the outer circumference surface other than the
end surface 60 of the core member 54 is covered by the gap member
56. The gap member 56 has a round cylinder shape with a bottom
having internal diameter dimensions roughly equal to the outer
diameter dimensions of the core member 54, and that open end
surface is positioned on the same plane as the end surface 60 of
the core member 54 and is fitted to the outside of the core member
54. Then, the primary side coil head for power 46 is constituted
including the coil member 52, the core member 54, and the gap
member 56.
[0130] Here, as the gap member 56, it is possible to suitably use a
prior known member with a small electromagnetic shielding effect
(shield effect (SE)) in relation to electromagnetism including
electric fields and the magnetic fields compared to the case 50,
preferably using a member with the shield effect smaller than 30
dB, and more preferably 20 dB or less. For example, as the gap
member 56, a member with a low magnetic permeability having
non-conductivity can be preferably used, more preferably being a
member having a magnetic permeability lower than air. In specific
terms, as the gap member 56, examples include
polytetrafluoroethylene, epoxy resin, plastic, wood, paper, cloth,
a non-conductive coating material, reinforced plastic, glass,
natural resin such as rosin, synthetic resin such as phenol or
polyurethane or the like. With this embodiment, as the gap member
56, polytetrafluoroethylene is used. By doing this, a gap member 56
is interposed between the outer circumference surface other than
the end surface 60 of the core member 54 and the case 50, and
direct contact is avoided between the outer circumference surface
other than the end surface 60 of the core member 54 and the case
50. As a result, the leaking of magnetic flux from the outer
circumference other than the end surface 60 at the core member 54
is inhibited, and also, the occurrence of eddy current at the case
50 due to the effect of magnetic force lines is inhibited, and the
risk of a decrease in absorption of electromagnetic energy of the
core member 54 by the case 50 and the like is reduced.
[0131] Meanwhile, the primary side coil heads for signals 48a
through 48e are constituted in roughly the same manner as the
primary side coil head for power 46 differing only in that the
outer diameter dimensions and axis direction dimensions are smaller
than those of the primary side coil head for power 46, so a
detailed description is omitted by giving the same code numbers in
the drawings to members and sites constituted in roughly the same
manner as the primary side coil head for power 46.
[0132] Then, the primary side coil head for power 46 and the
primary side coil heads for signals 48a through 48e are provided in
roughly embedded state on the case 50. The case 50 has a roughly
rectangular shaped block shape, and while at one end part in the
thickness direction (in FIG. 5, the lateral direction), a flange
shaped part 64 projecting to the outside is formed as a single unit
along the entire circumference, at the other end part are formed in
an open state a circular first aperture part 66 corresponding to
the outside shape of the primary side coil head for power 46, and
circular second aperture parts 68a through 68e corresponding to the
outside shape of the primary side coil heads for signals 48a
through 48e. Specifically with this embodiment, the first aperture
part 66 is formed at the center part of the case 50, and the second
aperture parts 68a through 68e are formed with a roughly equal gap
separated on the outside circumference of the first aperture part
66.
[0133] Note that as the case 50, it is possible to suitably use a
prior known member having a shield effect used as the
electromagnetic shielding member for which the electromagnetic
shielding effect (shield effect (SE)) is big in relation to
electromagnetism including electric fields and magnetic fields in
relation to the gap member 56, and preferably to use a member with
a shield effect of 30 dB or greater, and more preferably 60 dB or
greater. In specific terms, as the case 50, examples include
aluminum, copper, iron (including iron oxide), nickel, magnetite,
gadolinium, cobalt, a ferrimagnetic body, a conductive powder
material, a conductive coating material or the like, and formation
can be done by implementing a suitable process on these members
such as oxidation or alloying, kneading or vapor deposition of
powder or the like.
[0134] Then, while the primary side coil head for power 46 is held
in the first aperture part 66, the primary side coil heads for
signals 48a through 48e are respectively held in the second
aperture parts 68a through 68e. In this held state, the primary
side coil head for power 46 and the primary side coil heads for
signals 48a through 48e are respectively in a state with the end
surface 60 of the core member 54 roughly embedded positioned on the
same flat plane as an end surface 69 of the case 50, and the outer
circumference other than the end surface 60 of the core member 54
is covered by the case 50, and a gap member 56 is interposed
between each core member 54 and the case 50.
[0135] A primary side coil unit 44 with this kind of constitution,
specifically with this embodiment, is provided on a module main
unit 71 of the signal feed module 30a via a holder 70. The holder
70 is a box shape of a roughly rectangular shape having an aperture
part 72 on the one hand, and a unit push through hole 74 is
penetrated in the center part of a bottom part 73 on the opposite
side to the aperture part 72.
[0136] Then, the primary side coil unit 44 is inserted from the end
surface 69 side into the aperture part 72 of the concerned holder
70, and the end surface 60 of the core member 54 is made to go
through the unit push through hole 74 and project to outside the
holder 70 on the side opposite the aperture part 72. Next, a coil
spring 76 is passed through the aperture part 72 and inserted
inside the holder 70, and one end part in the axis direction of the
coil spring 76 is put into contact with the primary side coil unit
44. Then, the aperture part 72 of the holder 70 is covered by
adhering or using set screws or the like a plate shaped lid member
78, and the coil spring 76 is compressed and deformed between the
lid member 78 and the primary side coil unit 44. By doing this, by
the restoration force of the coil spring 76, an energizing force is
applied toward the outside of the holder 70 in relation to the
primary side coil unit 44. Then, by the flange shaped part 64 of
the primary side coil unit 44 being locked to the bottom part 73 of
the holder 70, flying off from the holder 70 of the primary side
coil unit 44 is prevented, and the primary side coil unit 44 is
held on the holder 70 in a state with the end surface 60 of the
core member 54 projecting from the holder 70, and the maximum
projection volume: D from the holder 70 of the primary side coil
unit 44 is stipulated. In this way, with this embodiment, a locking
part is constituted by the flange shaped part 64 of the primary
side coil unit 44 and the bottom part 73 of the holder 70.
[0137] Here, this maximum projecting volume: D is preferably set to
be larger than the maximum separation volume in the direction
facing opposite that can occur between the signal feed modules 30a
and 30b in cases such as when for example the arm member 16 is
moved at high speed or the like and a large acceleration is applied
to the tool changer 10 in a state with the robot side adapter 22
and the tool side adapter 24 coupled.
[0138] Then, the primary side coil unit 44 is supported on the
holder 70 to be able to be displaced to the inward direction of the
holder 70 by the axis direction of the core member 54 by a distance
equal to the maximum projection volume: D, and specifically with
this embodiment, by the outer circumference surface of the case 50
being guided by the inner circumference surface of the unit push
through hole 74, the slipping of the primary side coil unit 44 is
reduced. In this way, with this embodiment, the energizing member
is constituted including the coil spring 76, the flange shaped part
64, and the bottom part 73, and by this energizing member, an
elastic support member for supporting the primary side coil unit 44
in a displaceable manner is constituted.
[0139] Note that the holder 70 and the lid member 78 are preferably
formed from the same electromagnetic shielding member as the case
50. By working in this way, it is possible to obtain an
electromagnetic shielding effect by the holder 70 and the lid
member 78, and it is possible to further reduce the effect of
noise.
[0140] By attaching this holder 70 to the module main unit 71 of
the signal feed module 30a, the primary side coil unit 44 is
provided to the signal feed module 30a in a state projecting from
an end surface 79 (see FIG. 6) of the module main unit 71. Then,
this signal feed module 30a is attached detachably by a set screw
or the like to the robot side adapter 22.
[0141] Meanwhile, on the signal feed module 30b that is attached to
the tool side adapter 24 and is part of a pair with the signal feed
module 30a, a secondary side coil unit 80 is provided. The
secondary side coil unit 80 has roughly the same constitution as
the primary side coil unit 44 described above provided on the
signal feed module 30a, so by giving the same code numbers in the
drawings to members and sites with roughly the same constitution as
the primary side coil unit 44, we are omitting a detailed
description of those, but for the secondary side coil unit 80, the
constitution has one secondary side coil head for power 82 as the
coil head for power and a plurality of (with this embodiment, five)
secondary side coil heads for signals 84a through 84e as the coil
heads for signals provided on the case 50. These secondary side
coil head for power 82 and secondary side coil heads for signals
84a through 84e are, with the robot side adapter 22 and the tool
side adapter 24 in a coupled state, respectively arranged at
positions with the primary side coil head for power 46 and the
primary side coil heads for signals 48a through 48e provided on the
signal feed module 30a facing opposite. Note that with the
secondary side coil unit 80, in contrast with the signal feed
module 30a described above, the case 50 is fixed not via the holder
70, but rather directly on a module main unit 86 of the signal feed
module 30b, and the end surface 60 of the core member 54 of the
secondary side coil head for power 82 and secondary side coil heads
for signals 84a through 84e is positioned on the same flat plane as
an end surface 88 of the module main unit 86 (see FIG. 6). Then,
this signal feed module 30b is attached detachably using a set
screw or the like to the tool side adapter 24.
[0142] While the robot side adapter 22 with this kind of
constitution is attached to the arm member 16, the tool side
adapter 24 is attached to the tool 18. Then, by mutually coupling
the robot side adapter 22 and the tool side adapter 24, the tool 18
is attached to the arm member 16, and also, as shown in model form
in FIG. 6, the signal feed modules 30a and 30b are positioned
facing opposite each other.
[0143] In this opposite facing state, the end surfaces 60 of the
respective core member 54 of the primary side coil head for power
46 and of the primary side coil heads for signals 48a through 48e
of the signal feed module 30a, and the end surfaces 60 of the
respective core member 54 of the secondary side coil head for power
82 and of the secondary side coil heads for signals 84a through 84e
of the signal feed module 30b are positioned in the opposite facing
direction of the signal feed modules 30a and 30b, the different
way, facing opposite each other in the axis direction of the core
member 54. In light of this, the end surfaces 79 and 88 of the
signal feed modules 30a and 30b are respectively positioned on
different flat planes from an end surface 90 of the robot side
adapter 22 and an end surface 92 of the tool side adapter 24, and
even when the end surfaces 90 and 92 of both adapters 22 and 24 are
in a contact state with each other, a specified gap is formed
between the end surfaces 79 and 88 of both modules 30a and 30b.
However, with this embodiment, from the fact that the primary side
coil unit 44 of the signal feed module 30a is projecting facing the
signal feed module 30b, it is possible to have the end surfaces 60
of the core member 54 of both the coil units 44 and 80 be in
contact with each other.
[0144] Then, for example a lead wire constituting the coil member
52 of the primary side coil head for power 46 is in electrical
contact with a power circuit 96 via a power converter 94, and also,
a lead wire constituting the coil member 52 of the primary side
coil head for signals 48c is electrically connected to the
controller 20 provided on the main unit side of the robot 12 via a
signal processor 95. Meanwhile, a lead wire constituting the coil
member 52 of the secondary side coil head for power 82 is
electrically connected to a drive control circuit 102 for
controlling the operation of the tool 18 provided on the tool 18
via a power converter 98, and also, the lead wire constituting the
coil member 52 of the secondary side coil head for signals 84c is
electrically connected to an encoder 100 for generating as signals
position information and the like of the tool 18 via a signal
processor 99. Here, the power converter 94 and the signal processor
99 are respectively equipped with CVCF type and VVVF type prior
known inverters and rectifying and stabilization circuits and the
like.
[0145] With the signal feed modules 30a and 30b constituted in this
way, electric signals are made to be transmitted between the
primary side coil heads for signals 48a through 48e provided on the
primary side coil unit 44 and the secondary side coil heads for
signals 84a through 84e provided on the secondary side coil unit
80. For example, when encoding signals from an encoder 100 are
transmitted as electrical signals to the controller 20 provided on
the main unit side of the robot 12, first, after the encoding
signals generated by the encoder 100 are superimposed on high
frequency voltage by the signal processor 99, these are supplied to
the coil member 52 of the secondary side coil head for signals Mc.
Note that the high frequency voltage on which the electrical
signals are superimposed are generated by the signal processor 99,
and that frequency is different by the electrical signal data size,
use environment and the like, but with this embodiment, this is set
as appropriate within a range of approximately 100 Hz to 1 GHz.
[0146] Then, by high frequency voltage being fed to the coil member
52 of the secondary side coil head for signals 84c, magnetic flux
is generated that penetrates the coil member 52 and changes
according to the output frequency. The magnetic flux that
penetrates the coil member 52 goes through the core member 54 of
the secondary side coil head for signals 84c, enters the end
surface 60 of the core member 54 of the primary side coil head for
signals 48c positioned facing opposite from the end surface 60 of
the core member 54, and passes through the core member 54 of the
primary side coil head for signals 48c. Then, the magnetic flux
that passes through the core member 54 of the primary side coil
head for signals 48c is linked with the coil member 52 of the
primary side coil head for signals 48c.
[0147] As a result, the coil member 52 of the secondary side coil
head for signals 84c and the coil member 52 of the primary side
coil head for signals 48c are electromagnetically coupled, induced
electromotive force is generated at the coil member 52 of the
primary side coil head for signals 48c by the mutual induction
effect, and the high frequency voltage supplied to the coil member
52 of the secondary side coil head for signals 84c is taken from
the coil member 52 of the primary side coil head for signals 48c.
Then, the encoding signals superimposed on the high frequency
voltage taken from the coil member 52 of the primary side coil head
for signals 48c, after being taken by the signal processor 95, are
sent to the controller 20. By doing this, it is possible to perform
transmission of electrical signals between the signal feed modules
30a and 30b, and with this, it is possible to perform transmission
of electrical signals between the robot side adapter 22 and the
tool side adapter 24.
[0148] Furthermore, with this embodiment, transmission of power is
performed between the primary side coil head for power 46 provided
on the primary side coil unit 44 and the secondary side coil head
for power 82 provided on the secondary side coil unit 80. This
power transmission is performed in roughly the same way as the
transmission of electrical signals described above, to give a
summary explanation, for example a direct current voltage of the
power circuit 96 provided on the main unit side of the robot 12 is
converted to high frequency voltage by the power converter 94. Note
that the frequency (output frequency) of the high frequency voltage
converted by the power converter 94 differs by the supplied power,
use environment and the like, but with this embodiment, it is set
as appropriate within a range of approximately 100 Hz to 1 MHz.
[0149] Then, the high frequency voltage converted by the power
converter 94 is supplied to the coil member 52 of the primary side
coil head for power 46, and induced electromotive force is
generated at the coil member 52 of the secondary side coil head for
power 82 positioned facing opposite the primary side coil head for
power 46. By doing this, the high frequency voltage supplied to the
coil member 52 of the primary side coil head for power 46 is taken
from the coil member 52 of the secondary side coil head for power
82, and this high frequency voltage, after being converted to
direct current voltage by the power converter 98, is supplied as
the drive voltage of the drive control circuit 102. In this way, it
is possible to perform power transmission between the signal feed
modules 30a and 30b, and with this, it is possible to perform power
transmission between the robot side adapter 22 and the tool side
adapter 24.
[0150] As is clear from the description above, with this
embodiment, an opposite facing type interface is constituted from
the primary side coil unit 44 and the secondary side coil unit 80.
In light of this, with this embodiment, by projecting the primary
side coil unit 44 from the module main unit 71 to the secondary
side coil unit 80, the end surfaces 60 of the core members 54 of
both coil units 44 and 80 can be placed facing each other in a
mutual contact state. By doing this, it is possible to perform
higher reliability transmission. Then, for example, when the arm
member 16 is moved at high speed and both modules 30a and 30b are
displaced in the separation direction to each other, by having the
primary side coil unit 44 further projected by the energizing force
of the coil spring 76, it is possible to maintain the contact state
of the end surfaces 60 of both core members 54. Also, transmission
between both coil units 44 and 80 is performed using
electromagnetic induction, so even in cases when for some reason
there is an even greater separation of both modules 30a and 30b,
and the end surfaces 60 of both core members 54 are in a mutual
non-contact state, it is possible to perform transmission of
electrical signals and power, and there is a reduced risk of the
contact failure that happens with pin contact points.
[0151] In addition, with this embodiment, by arranging the case 50
with a high electromagnetic shielding effect on the outside of the
core member 54, there is a reduced risk of magnetic force lines
leaked from the core member 54 affecting other electronic
apparatuses, and of the magnetic force lines from the other
electronic apparatuses affecting the electromagnetic inductance
effect between both coil units 44 and 80. Furthermore, specifically
with this embodiment, by interposing the gap member 56 between the
outer circumference of each core member 54 and the case 50, it is
possible to inhibit leaking of magnetic flux that passes through
the inside of the core member 54 from the outer circumference of
the core member 54, and it is possible to focus the magnetic flux
on the end surface 60, and also, it is possible to reduce the risk
of a decrease in absorption of the electromagnetic energy of each
core member 54 by the case 50 and the like, and it is possible to
perform more stable transmission.
[0152] Also, the signal feed modules 30a and 30b of this embodiment
make it possible to transmit electrical signals and power simply by
positioning the end surfaces 60 of the core member 54 provided at
both coil units 44 and 80 facing opposite each other, so high level
alignment like with pin contact points is unnecessary. By doing
this, it is possible to more easily couple the robot side adapter
22 and the tool side adapter 24, and it is possible to make tool
exchange work even more efficient, In addition, from the fact that
a physical connection like that of pin contact points is
unnecessary, it is possible to improve the durability of the tool
changer 10 for which coupling and uncoupling are performed many
times and frequently.
[0153] Note that in addition to the tool changer 10 as described
above, on the robot 12 of this embodiment, provided on the joint
14c is a movable type transformer 110 as the harnessless device.
FIG. 7 shows in model form the joint 14c of the arm member 16. The
joint 14c has a constitution with a tool side arm member 112 as the
first member and a main unit side arm member 114 as the second
member constituting the arm member 16 coupled by a rotation axis
116. In light of this, while the tool side arm member 112 is
positioned at the tool 18 side of the robot 12, the main unit side
arm member 114 is positioned at the main unit side of the robot 12.
Then, with the rotation axis 116, while one end part is coupled in
fixed form to the tool side arm member 112, the other end part is
projecting from the tool side arm member 112 facing the main unit
side arm member 114, and is able to rotate around a center axis 117
coupled with an output axis of a drive source such as an
electromotive motor (not illustrated) provided on the main unit
side arm member 114 side. By doing this, the tool side arm member
112 is able to rotate relative to the main unit side arm member 114
around the center axis 117 of the rotation axis 116.
[0154] Then, provided on this joint 14c is the movable type
transformer 110. The movable type transformer 110 is constituted
including a tool side coil unit 118 as the first coil unit attached
to the tool side arm member 112 via the rotation axis 116, and a
main unit side coil unit 120 as the second coil unit attached to
the main unit side arm member 114, and specifically with this
embodiment, a pair of the tool side coil units 118, and a pair of
the main unit side coil units 120.
[0155] Respectively shown enlarged in model form are the tool side
coil unit 118 in FIG. 8, the main unit side coil unit 120 in FIG.
9, and enlarged facing parts of the tool side coil unit 118 and the
main unit side coil unit 120 in FIG. 10. Note that in FIG. 8, to
make it easier to understand, the main unit side coil unit 120 is
shown together with dotted lines, and in FIG. 8 and FIG. 9, the
protective member 63 is omitted from the drawing.
[0156] The tool side coil unit 118 is constituted with a disk 122
as the first support member and a tool side coil head 124 as the
first coil head attached. Furthermore, the tool side coil head 124
is constituted with a tool side core 126 as the first core member
and a tool side coil 128 as the first coil member attached.
[0157] The tool side core 126 is constituted by a partial core 130
as a plurality of partial core members. The partial core 130 is
formed from a ferromagnetic material such as ferrite, for example,
has a fixed U shaped cross section having a lead groove 132 that
opens at one end orthogonal to the lengthwise direction, and has a
shape extending in an arc shape along a specified dimension.
Specifically with this embodiment, each partial core 130 has the
same shape as each other, and has an arc shape having a mutually
equal curvature and circumference direction length.
[0158] Furthermore, specifically with this embodiment, the outer
circumference surface except for an open end surface 134 of each
partial core 130 and both end surfaces in the lengthwise direction
is covered by a cover member 136 as a low shielding effect member.
Roughly the same way as with the partial core 130, the cover member
136 has a fixed U shaped cross section having a lead groove 132
that opens in one of the directions orthogonal to (in FIG. 10, the
lateral direction) the lengthwise direction and has a shape
extending in an arc shape along a specified dimension. Then, this
cover member 136 has its open end surface positioned on the same
flat plane as the open end surface 134 of the partial core 130, and
this is fitted to the outside of the partial core 130. By doing
this, the cover member 136 is arranged on the outer circumference
except for the open end surface 134 of the partial core 130.
[0159] Note that as the cover member 136, it is possible to
suitably use a prior known member with a small electromagnetic
shielding effect (shield effect (SE)) in relation to
electromagnetism including electric fields and magnetic fields, and
it is possible to favorably use the same member as the gap member
56 with the aforementioned tool changer 10.
[0160] Then, the partial core 130 and the cover member 136 are
arranged in a state embedded on the disk 122. The disk 122 is in a
round disk shape having an axis insertion push through hole 138
penetrating through in the thickness direction. In light of this,
with this embodiment, the disk 122 is a high shielding effect
member. As this disk 122, it is possible to suitably use a prior
known member for which the electromagnetic shield effect (shield
effect (SE)) is large in relation to electromagnetism including
electrical fields and magnetic fields, and having a shield effect
that can be used as the electromagnetic shielding member, and it is
possible to favorably use the same member as the case 50 for the
aforementioned tool changer 10.
[0161] Furthermore, on the disk 122, at the partial core 130
arrangement site is formed a concave groove 142 that opens at an
end surface 140 of the axis direction (in FIG. 10, the lateral
direction). Specifically with this embodiment, the concave groove
142 has a shape corresponding to the outside shape of the cover
member 136, and has equal depth dimensions to the height dimensions
of the cover member 136 (in FIG. 10, the lateral direction
dimensions), and also, has an equal curvature to the curvature of
the cover member 136 and the partial core 130 and a shape that
extends in an arc shape. A plurality of this concave grooves 142
are formed at each specified gap in the circumference direction of
the disk 122, and on each of these concave grooves 142, partial
core 130 is fitted in via the cover member 136 and fixed by
adhesion or the like.
[0162] Working in this way, the disk 122 includes a plurality of
partial cores 130 that are provided with a specified interval
separated on the same circumference for which the center axis is
aligned with that of the disk 122, and the tool side core 126 is
formed by this plurality of partial cores 130. By doing this, the
tool side core 126 is a pot core shape divided at a plurality of
locations in the circumference direction. Specifically with this
embodiment, the tool side core 126 is divided at equal intervals in
the circumference direction with all the intervals of the adjacent
partial cores 130 in the circumference direction equal. Note that
the intervals of the adjacent partial cores 130 in the
circumference direction, specifically with this embodiment, are
smaller than the circumferential direction length of the partial
core 130. In specific terms, the center angle: a around the curve
center axis of the partial core 130 is set to <45.degree.. Also,
by having the partial core 130 and the cover member 136 fitted into
the concave groove 142, the open end surface 134 of the partial
core 130 and the end surface of the cover member 136 are positioned
on the same flat plane as the end surface 140 of the disk 122.
Furthermore, the disk 122 is arranged via the cover member 136 on
the outer circumference except for the open end surface 134 of the
partial core 130.
[0163] Then, a lead wire formed from copper or the like, for
example, straddles the lead groove 132 of the partial core 130
provided on the disk 122, the tool side coil 128 is formed by
winding a specified number of times so as to extend in the
circumference direction of the disk 122, and this tool side coil
128 is attached to the tool side core 126. Note that a lead groove
144 having the same cross section shape as the lead groove 132 and
open at the end surface 140 is formed between each partial core 130
in the circumference direction of the disk 122, and by this lead
groove 144 and the lead groove 132 of the partial core 130 being
connected, a circumference groove is formed open at the end surface
140 of the disk 122 and extending continuously in the whole
circumference in the circumference direction. Then, by arranging
the lead wire inside the circumference groove formed by these lead
grooves 132 and 144, the tool side coil 128 is arranged without
projecting from the end surface 140 of the disk 122. Also, in FIG.
8, to make it easy to understand, the tool side coil 128 is shown
with one lead wire, but it is possible to set the lead wire wind
count as appropriate considering the required transmission
characteristics.
[0164] Furthermore, the same as with the core member 54 of the
aforementioned tool changer 10, at the aperture part of the lead
groove 132 of each partial core 130 and the lead groove 144 of the
disk 122, by providing the protective member 63, contact of the
tool side coil 128 with other members or the like is prevented.
[0165] Working in this way, the tool side coil head 124 is formed
including the tool side core 126, the tool side coil 128, and the
cover member 136, and by having this tool side coil head 124
supported on the disk 122, the tool side coil unit 118 is
constituted. Then, the magnetic path of the tool side coil 128 is
formed by the tool side core 126, to say it another way, the
partial core 130, and also, the open end surface 134 of the partial
core 130 is the first transmission surface.
[0166] Note that specifically with this embodiment, the concave
groove 142 is formed respectively on both end surfaces 140 of the
disk 122, the cover member 136 and the partial core 130 are fitted
into each of these concave grooves 142, and the tool side coil head
124 is formed. As is clear from this, with this embodiment, the
pair of tool side coil heads 124 having the diameter dimensions
equal to each other are supported on a concentric axis by the
common disk 122, and a pair of tool side coil units 118 are
provided as a single unit with the disk 122 in common.
[0167] The pair of main unit side coil units 120 are respectively
arranged on both sides in the thickness direction of the tool side
coil unit 118 constituted in this way. As shown in FIG. 9, the main
unit side coil unit 120 is constituted with a main unit side coil
head 150 as the second coil head attached to a pad 148 as the
second support member. Also, the main unit side coil head 150 is
constituted with a main unit side core 152 as the second core
member and a main unit side coil 154 as the second coil member
attached, and the cover member 136 fitted into the outside of the
main unit side core 152.
[0168] The main unit side core 152 is constituted in roughly the
same way as the partial core 130 with the circumference direction
length of the partial core 130 constituting the tool side coil head
124 being different, and is formed from a ferromagnetic material
such as ferrite, for example, and has a fixed U shaped cross
section having a lead groove 156 and a shape extending in an arc
shape with a curvature equal to the partial core 130. In light of
that, as shown in FIG. 8, the circumference direction length
dimension of the main unit side core 152 is larger than the
separation distance in the circumference direction of the partial
cores 130 adjacent in the circumference direction on the tool side
coil head 124, and specifically with this embodiment, the center
angle: .beta. around the curvature center axis of the main unit
side core 152 is set to >45.degree..
[0169] Furthermore, the same as with the partial core 130, the
cover member 136 is fitted onto the outside of the main unit side
core 152 specifically with this embodiment, and the outside
circumference surface except for an open end surface 158 of the
main unit side core 152 and both end surfaces in the lengthwise
direction is covered by the cover member 136.
[0170] Meanwhile, the pad 148 has a plate shape, and specifically
with this embodiment, the thickness dimensions of the pad 148 (in
FIG. 10, the lateral direction dimensions) are equal to the height
dimensions of the cover member 136. Also, a through hole 160 that
penetrates in the thickness direction is formed on the pad 148.
Note that the same as the disk 122 that supports the tool side coil
head 124, the pad 148 is a high shielding effect member formed from
a member such as the aforementioned examples with a high
electromagnetic shielding effect.
[0171] Then, the cover member 136 and the main unit side core 152
are fitted into this through hole 160 and fixed by adhesion or the
like. In light of this, from the fact that the thickness direction
dimensions of the pad 148 and the height dimensions of the cover
member 136 are equal, it is possible to easily align the open end
surface 158 of the main unit side core 152 consisting the main unit
side coil head 150 and the end surface of the pad 148. Then, at the
outer circumference part except for the open end surface 158 of the
main unit side core 152 is arranged the pad 148 via the cover
member 136.
[0172] Also, on the pad 148 is formed a lead groove 162 connected
to the lead groove 156 of the main unit side core 152 arranged
inside the through hole 160 and forming the circumference groove
continuous on the entire circumference working cooperatively with
the lead groove 156. Then, the lead wire formed by copper or the
like, for example, is arranged inside the circumference groove
formed by these lead grooves 156 and 162, and the main unit side
coil 154 is formed by winding the lead wire a specified number of
times on the main unit side core 152, and this main unit side coil
154 is attached to the main unit side core 152. Note that in FIG.
9, to make it easy to understand, the main unit side coil 154 is
shown by one lead wire, but it is possible to set the number of
lead wire coils as appropriate considering the required
transmission characteristics or the like. Also, though omitted in
the drawing in FIG. 9, the protective member 63 is provided the
same as with the tool side coil unit 118 on the aperture part of
the lead groove 156 of the main unit side core 152 and the lead
groove 162 of the pad 148, and contact with the other members of
the main unit side coil 154 or the like is prevented.
[0173] Working in this way, the main unit side coil head 150 is
formed including the main unit side core 152, the main unit side
coil 154, and the cover member 136, and this main unit side coil
head 150 is supported by the pad 148. Then, the magnetic path of
the main unit side coil 154 is formed by the main unit side core
152, and also, the open end surface 158 of the main unit side core
152 is the second transmission surface.
[0174] Then, the respective pair of tool side coil units 118 and
pair of main unit side coil units 120 are attached to the tool side
arm member 112 and the main unit side arm member 114, and at both
sides in the thickness direction of the disk 122 the pair of main
unit side coil units 120 are respectively positioned with a
specified distance separated.
[0175] In more detail, the tool side coil unit 118, in a state with
the rotation axis 116 pushed through on the center axis of the axis
insertion push through hole 138 of the disk 122, has a plurality
(with this embodiment, four) of coupling members 164 extending
toward the disk 122 from the outer circumference surface of the
rotation axis 116 and is fixed to the rotation axis 116 by the
coupling members 164. By doing this, the tool side coil unit 118 is
attached to the tool side arm member 112 via the rotation axis 116
and has the tool side core 126 positioned on the same axis as the
center axis 117 of the rotation axis 116. And also, the tool side
coil unit 118 is made to rotate as a single unit with the rotation
axis 116 and the tool side arm member 112 around the center axis
117 of the rotation axis 116.
[0176] Then, while one lead wire constituting the pair of tool side
coils 128 provided at the tool side coil unit 118 is electrically
connected via the previously described signal processor 99 with the
drive control circuit 102 that controls the operation of the tool
18, for example, the other lead wire constituting the pair of tool
side coils 128 is electrically connected via the signal processor
99 to the encoder 100, for example.
[0177] Meanwhile, the pair of main unit side coil units 120 is
attached to the main unit side arm member 114 via a shield member
170 provided as a single unit with the main unit side arm member
114. The shield member 170 has a hollow roughly round cylinder
shape, and at the center part of both end surfaces in the axis
direction (in FIG. 7, the lateral direction), push through holes
172a and 172b are respectively formed penetrating in the thickness
direction. This shield member 170 is fixed to the main unit side
arm member 114 in a state with the main unit side arm member 114
pushed through in one push through hole 172a. Note that the shield
member 170, the same as with the disk 122 and the pad 148, is a
high shielding effect member formed from a member like the examples
listed above with a high electromagnetic shielding effect or the
like.
[0178] On the inner circumference surface of this shield member 170
is attached the pair of main unit side coil units 120 so as to
project inward in the diameter direction of the shield member 170,
and also, the respective lead wires constituting the main unit side
coil 154 provided on the main unit side coil unit 120 are
electrically connected to the controller 20 provided on the main
unit side of the robot 12 via the signal processor 95.
[0179] Then, by the tool side arm member 112 being pushed through
in the other push through hole 172b of the shield member 170, the
tool side coil unit 118 and pair of main unit side coil units 120
are positioned facing opposite each other within the shield member
170. Note that specifically with this embodiment, the diameter
dimensions of the tool side coil unit 118 are larger than the
diameter dimensions of the push through hole 172b of the shield
member 170, so the arrangement of the tool side coil unit 118
inside the shield member 170 can be realized, for example, by
having the shield member 170 have a divided constitution in the
circumference direction, and after attaching the tool side arm
member 112 to which the tool side coil unit 118 is attached to the
main unit side arm member 114, by attaching the divided structural
body constituting the shield member 170 from the outside of both
these arm members 112 and 114 or the like.
[0180] By doing this, the pair of the tool side coil units 118 and
the pair of the main unit side coil units 120 are arranged inside
the shield member 170, and the disk 122 that supports the pair of
tool side coil units 118 is sandwiched from both sides of the axis
direction of the rotation axis 116 by the pair of main unit side
coil units 120 that are arranged at opposite sides to each other.
Then, the open end surface 134 of the partial core 130 that is the
transmission surface of the tool side coil unit 118 and the open
end surface 158 of the main unit side core 152 that is the
transmission surface of the main unit side coil unit 120 are
positioned facing opposite each other in a non-contact state
separated by a specified distance in the axis direction of the
rotation axis 116. Working in this way, the movable type
transformer 110 is constituted including this pair of tool side
coil units 118 and the pair of main unit side coil units 120.
[0181] With a movable type transformer 110 constituted in this way,
transmission of electrical signals is performed in a mutually
non-contact state between the tool side coil unit 118 and the main
unit side coil unit 120. For example, when encoding signals from
the encoder 100 provided on the tool 18 as the electrical signals
are transmitted to the controller 20 provided on the main unit side
of the robot 12, first, the encoding signals generated by the
encoder 100 are superimposed on high frequency voltage by the
signal processor 99, after which they are supplied to the tool side
coil 128 of the tool side coil unit 118. Note that the high
frequency voltage on which the electrical signals are imposed are
generated by the signal processor 99, and that frequency differs
according to the electrical signal data size, the use environment
and the like, but with this embodiment, this is set as appropriate
within a range of approximately 100 Hz to 1 GHz.
[0182] Then, by the high frequency voltage being fed to the tool
side coil 128, magnetic flux that passes through the tool side coil
128 and changes according to the output frequency is generated. The
magnetic flux that passes through the tool side coil 128 passes
through the tool side core 126, more specifically, the partial core
130 that constitutes the tool side core 126, enters from the open
end surface 134 of the partial core 130 to the open end surface 158
of the main unit side core 152 positioned facing opposite, and
passes through the main unit side core 152. Then, the magnetic flux
that passes through the main unit side core 152 is linked with the
main unit side coil 154.
[0183] As a result, the tool side coil 128 and the main unit side
coil 154 are electromagnetically coupled, induced electromotive
force is generated at the main unit side coil 154 by the mutual
induction effect, and the high frequency voltage supplied to the
tool side coil 128 is taken in a non-contact state from the main
unit side coil 154. Then, the encoder signals superimposed on the
high frequency voltage taken from the main unit side coil 154,
after being taken by the signal processor 95, is sent to the
controller 20. By doing this, it is possible to perform
transmission of electrical signals in a mutual non-contact state
between the tool side arm member 112 and the main unit side arm
member 114.
[0184] Also, the movable type transformer 110 is also able to send
electrical signals from the main unit side of the robot 12 to the
tool 18 side. For example, in the case of transmitting drive
control signals of the controller 20 as the electrical signals to
the drive control circuit 102 provided on the tool 18, with the
signal delivery path the reverse of when sending encoded signals to
the controller 20 from the encoder 100 described above, roughly in
the same way, the drive control signals generated at the controller
20 are superimposed on high frequency voltage by the signal
processor 95 connected to the controller 20, and after being sent
in a non-contact state via the main unit side core 152 and the tool
side core 126 to the tool side coil 128 from the main unit side
coil 154, they are taken from the high frequency voltage by the
signal processor 99 provided on the tool 18 side, and are sent to
the drive control circuit 102.
[0185] Then, with the movable type transformer 110 according to
this embodiment, when the rotation axis 116 is rotated, the tool
side coil unit 118 provided in a fixed manner to the rotation axis
116 is rotated around the center axis 117 of the rotation axis 116
in relation to the main unit side coil unit 120, and the open end
surface 158 of the main unit side core 152 is rotated relatively
around the center axis 117 of the rotation axis 116 in relation to
the open end surface 134 of each partial core 130 constituting the
tool side core 126. There, with the movable type transformer 110
according to this embodiment, the partial cores 130 constituting
the tool side core 126 are arranged on the concentric circle with
the center axis 117, and also, the circumference direction
dimensions of the main unit side core 152 are larger than the
separation distance of the adjacent partial cores 130 in the
partial core 130 arrangement circle direction, so in whatever
circumference direction position in relation to the tool side coil
unit 118 the main unit side core 152 is, the open end surface 158
of the main unit side core 152 is positioned facing opposite the
open end surface 134 of at least one partial core 130. By doing
this, when the rotation axis 116 is rotated, specifically, even
when the tool side arm member 112 is rotated in relation to the
main unit side arm member 114, the electromagnetic coupled state of
the tool side core 126 and the main unit side core 152 is
maintained, and it becomes possible to transmit electrical signals
between the main unit side arm member 114 and the tool side arm
member 112, and it is possible to endlessly rotate the tool side
arm member 112 while maintaining the electrical connection in
relation to the main unit side arm member 114.
[0186] In light of this, the tool side core 126 and the main unit
side core 152 are separated by a specified distance in the axis
direction of the rotation axis 116 and in a non-contact state, so
it is possible to avoid the risk of wear due to rubbing of both
cores 126 and 152 or the like, and it is also possible to avoid the
risk of breaking due to repeated curving or the like such as with a
cable connection or the like, so it is possible to obtain excellent
maintainability.
[0187] Also, since it is not necessary to provide deflection that
allows relative displacement of each member such as with cable
connections, it is possible to have a compact constitution for the
movable type transformer 110, and thus, it is possible to make the
robot 12 more compact. Furthermore, specifically with this
embodiment, by providing the pair of tool side cores 126 having the
same diameter dimensions as each other respectively on the same
axis on both surfaces of the disk 122, it is possible to arrange
two sets of the tool side coil unit 118 and the main unit side coil
unit 120 set with good space efficiency. Specifically, when two
tool side cores 126 are provided on one surface of the disk 122,
the diameter dimensions of those tool side cores 126 are made to be
different from each other, and it is necessary to arrange the tool
side core 126 with a large diameter on the outside of the tool side
core 126 with the small diameter, so the diameter dimensions of one
of the tool side cores 126 has to be made larger, making the size
larger in scale, and in particular, bringing on a larger scale in
the direction orthogonal to the axis direction of the rotation axis
116. Meanwhile, without providing a pair of tool side cores 126 on
one disk 122, but rather providing only one tool side core 126 on
one disk 122, when arranging with two sets of the tool side coil
unit 118 and the main unit side coil unit 120 set simply aligned in
the axis direction of the rotation axis 116, this brings on a
larger scale in the axis direction of the rotation axis 116. In
light of this, with this embodiment, by respectively providing the
tool side cores 126 on both surfaces of the disk 122, it is
possible to have the diameter dimensions of the pair of tool side
cores 126 be mutually equal and to make the size for both the axis
direction and the axis-perpendicular direction of the rotation axis
116 be more compact.
[0188] Furthermore, from the fact that the pair of tool side cores
126 have mutually equal diameter dimensions, it is possible to use
the same standard core members with an equal curvature as the
partial cores 130 constituting the tool side core 126, and also,
for the pair of main unit side cores 152 facing opposite this, it
is possible to use the same standard core members, so it is
possible to reduce the types of core members to be prepared, and to
reduce the manufacturing cost. In addition, by attaching the disk
122 to the rotation axis 116, it is possible to attach to the
rotation axis 116 of the pair of tool side coil units 118, so it is
possible to reduce time and effort for manufacturing. Also, for
example, when the main unit side core 152 is a ring shape
continuous around the entire circumference, the same as with the
tool side core 126, it is necessary to push through and arrange the
rotation axis 116, and it is necessary to consider the position for
attaching the rotation axis 116, but with this embodiment, since
the main unit side core 152 does not continue along the entire
circumference, it is acceptable to arrange simply at a position
facing opposite the tool side core 126, making design easier as
well.
[0189] Then, from the fact that the tool side core 126 is
constituted divided in the circumference direction by each partial
core 130, it is possible to focus the magnetic flux on the open end
surface 134 of each partial core 130, and compared to when
providing core members continuously on the entire circumference of
the tool side core 126, it is possible to inhibit dispersion of the
magnetic flux. By doing this, it is possible to perform higher
reliability transmission. Furthermore, with this embodiment, by
having the partial cores 130 covered by the cover member 136, it is
possible to inhibit magnetic flux leakage from the partial cores
130, and it is possible to more effectively focus the magnetic flux
on the open end surface 134. Also, the voltage flowing to the tool
side coil 128 is converted to heat or the like within the core
member as the frequency becomes higher and attenuation occurs more
easily, but with this embodiment, the tool side core 126 is divided
in the circumference direction, and by making the circumference
direction length in which the core exists be smaller, it is
possible to reduce this attenuation as well.
[0190] In addition, with this embodiment, the electromagnetic
shielding mechanism is constituted by the disk 122, the pad 148,
and the shield member 170, and there is a reduction of the risk of
the magnetic lines of force leaking from the tool side core 126 and
the main unit side core 152 affecting other electronic parts, and
of the magnetic force lines from the other electronic parts
affecting the electromagnetic inductance effect of the tool side
core 126 and the main unit side core 152. In particular with the
tool side coil unit 118 and the main unit side coil unit 120, the
disk 122 and the pad 148 itself are formed using electromagnetic
shielding members, and it is unnecessary to specially provide an
electromagnetic shielding member, so it is possible to reduce the
number of parts. Furthermore, specifically with this embodiment, by
interposing the cover member 136 between the tool side core 126 and
the disk 122, and between the main unit side core 152 and the pad
148, there is a reduction in the risk of a decrease in absorption
of the electromagnetic energy of the tool side core 126 and the
main unit side core 152 by the disk 122 and the pad 148, and it is
possible to perform more stable transmission.
[0191] Incidentally, we actually produced a robot equipped with the
automatic tool exchange device with a constitution according to the
embodiment described above as shown in FIGS. 11 and 12, and
confirmed its operation. As a result, even in a situation installed
with an actual operating environment roughly reproduced, this robot
operates stably with high precision, and for the various effects as
described above, it was possible to confirm that all the effects
could be exhibited.
[0192] Above, we gave a detailed description regarding an
embodiment of the present invention, but this is nothing more than
an example, and the present invention is not to be interpreted in
any limiting way at all by the specific notations of this
embodiment. Note that with the description hereafter, for members
and sites with the same constitution as the aforementioned
embodiment, by giving the same code number in the drawings as the
embodiment noted above, detailed descriptions of those are
omitted.
[0193] For example, with the aforementioned tool changer 10, by the
primary side coil unit 44 being energized in a projecting state
from the module main unit 71, the end surfaces 60 of both core
members 54 provided on both coil units 44 and 80 are always in a
contact state, but it is not absolutely necessary to always
maintain a contact state for the end surfaces 60 of both core
members 54, and it is also acceptable to always have a separation
of a specified distance and have a non-contact state, and for
example it is also acceptable to have the arm member 16 move at
high speed and to make the separation distance of both modules 30a
and 30b be temporarily larger and to temporarily separate them, or
the like. Then, even in a case when the end surfaces 60 of both
core members 54 are mutually separated, with both coil units 44 and
80 constituted according to the present invention, by providing a
gap member 56 on the outer circumference except for the end surface
60 of the core member 54, it is possible to focus the magnetic flux
on the end surface 60 of the core member 54, and it is possible to
perform more stable transmission. Therefore, for example with the
aforementioned embodiment, the coil spring 76 or holder 70 or the
like that make the primary side coil unit 44 project are not
absolutely necessary, and with the signal feed module 30a as well,
it is also acceptable to provide the primary side coil unit 44 in a
fixed manner on the module main unit 71 or the like.
[0194] Also, as shown in model form as an example in FIG. 13 with
the primary side coil head for signals 48 and the secondary side
coil head for signals 84 with the aforementioned tool changer 10,
the diameter dimensions of one of the core members 54 (in FIG. 13,
the primary side coil head for signals 48) can also be made larger
than the diameter dimensions of the other core member 54 (in FIG.
13, the secondary side coil head for signals 84). By working in
this way, even in a case when skew occurs in the axis direction (in
FIG. 13, the vertical direction) between both core members 54, it
is possible to maintain a higher level of the mutually opposite
facing state of the end surfaces 60, and it is possible to perform
higher reliability transmission. In light of this, more preferably,
for the diameter dimensions of one of the core members 54 (in FIG.
13, the primary side coil head for signals 48), compared to the
diameter dimensions of the other of the core members 54 (in FIG.
13, the secondary side coil head for signals 84), this is
preferably made bigger than the maximum displacement volume of the
direction orthogonal to the opposite facing direction (in FIG. 13,
the vertical direction) between both signal feed modules 30a and
30b. By working in this way, it is possible to always maintain the
opposite facing state of both end surfaces 60.
[0195] Also, one coil unit 44 and 80 is provided respectively at
both signal feed modules 30a and 30b with the aforementioned tool
changer 10, but as shown in model form in FIG. 14, for example, it
is also possible to provide a plurality of coil units on one
module. Two unit push through holes 74 are formed on the holder 70
in FIG. 14, and the coil units 44a and 44b are arranged in a
projecting state respectively on the unit push through holes 74.
Then, while the primary side coil head for power 46 is provided on
the coil unit 44a, the primary side coil heads for signals 48a
through 48e are provided on the coil unit 44b. Of course, it is
also possible to provide a plurality of coil units on one module
without going via the holder 70 or the like. Also, as is clear from
FIG. 14, it goes without saying that the arrangement mode of the
coil heads is not limited in any way.
[0196] Furthermore, with the aforementioned tool changer 10, it is
of course also possible to for example remove the primary side coil
head for power 46 and the secondary side coil head for power 82,
and to perform only electrical signal transmission using the
primary side coil heads for signals 48a through 48e and the
secondary side coil heads for signals 84a through 84e or the
like.
[0197] Also, FIG. 15 shows in model form a tool side coil unit 180
as a different mode of the first coil unit with the previously
described harnessless device. The tool side coil unit 180 is
constituted with a tool side coil head 183 provided as the coil
head on a disk 182 as the first support member. In light of this,
the disk 182 of this embodiment has a divided constitution, and is
constituted with a pair of partial disks 184 as the partial support
member being coupled by being fitted to each other or the like.
[0198] The partial disk 184 has a pillar shaped part 186 extended
straight, and also, at one end part of the pillar shaped part 186
there is a ring shaped part 188 with a semicircular ring shape.
Note that the partial disk 184, the same as with the aforementioned
disk 122, is a high shielding effect member formed from a member
such as the previously noted example with a high electromagnetic
shield effect or the like. Then, within the respective partial
disks 184 are arranged lead wires 190 formed using for example
copper or the like. The lead wire 190 of this mode, after being
extended straight from a base tip 191 along the pillar shaped part
186 within the pillar shaped part 186, is extended along the ring
shaped part 188 at the outside part within the ring shaped part
188. Furthermore, the lead wire 190, after being bent toward the
inside of the ring shaped part 188 at the extended tip part of the
ring shaped part 188, is extended toward the pillar shaped part 186
along the ring shaped part 188 at the inside part within the ring
shaped part 188, and an extended tip 192 is electrically connected
with a connector 193 provided at a site positioned facing opposite
the other partial disk 184 at the pillar shaped part 186 of the
partial disk 184. In other words, the lead wire 190 is bent and
folded at the extended tip part of the ring shaped part 188, and is
arranged along the ring shaped part 188 at the inside and the
outside of the ring shaped part 188. Then, a roughly semicircle
shaped coil forming part 194 is formed by the lead wire 190
arranged inside the ring shaped part 188, and a plurality of
partial cores 130 are combined on that coil forming part 194.
[0199] A pair of partial disks 184 with this kind of constitution
is coupled by being fitted to each other so that the rotation axis
116 is enclosed by the ring shaped part 188. In this coupled state,
the connectors 193 of the pair of partial disks 184 are connected
to each other, and the extended tips 192 of the pair of lead wires
190 are electrically connected in series to each other, and a tool
side coil 196 is formed as the first coil member having a roughly
circular shape overall by the pair of coil forming parts 194. By
doing this, the tool side coil head 183 for which the tool side
coil 196 is combined with the partial core 130 is constituted.
Furthermore, the disk 182 as the first support member supporting
the tool side coil head 183 is constituted by the pair of partial
disks 184, and the axis insertion push through hole 138 in which
the rotation axis 116 is pushed through is formed by the inner
circumference surface of the pair of ring shaped parts 188.
[0200] By working in this way, by the pair of partial disks 184
sandwiching the rotation axis 116 being coupled to each other, it
is possible to form the disk 182 and the tool side coil head 183
coming out from the rotation axis 116. By doing this, for example
it is possible to easily attach the tool side coil head 183 to
already existing robots and the like, and it is also easy to apply
the harnessless device to existing robots and the like.
[0201] Note that specifically with the partial disk 184 shown in
FIG. 15, by positioning the connector 193 at the extended tip 192
of the pillar shaped part 186 taking into consideration the ease of
mutual coupling and the like, a specified gap: W is formed between
the pair of coil forming parts 194, but this gap: W is preferably
as small as possible. In light of this, it is also possible to
position the connector 193 closer to the inner circumference
surface of the ring shaped part 188 for example, to make the gap: W
smaller, and the like.
[0202] Also, in FIG. 15, to make it easier to understand, an
example was shown of the winding count being one coil as the tool
side coil 196, but as with a tool side coil 200 as yet a different
mode of the coil member shown in model form in FIGS. 16A and 16B,
for example, it is also possible to constitute the coil having a
plurality of wind counts to be able to be divided in the
circumference direction. To constitute this kind of tool side coil
200, for example first, as shown in FIG. 16A, by preparing four of
the lead wires 190 shown in the FIG. 15 and combining one pair
each, two circular shapes are formed by the pair of coil forming
parts 194 shown in FIG. 15. Then, the lead wires 190 are connected
in series. In specific terms, the same as with the tool side coil
196 shown in FIG. 15, the extended tip 192 of the pair of lead
wires 190 forming the circular shape by the coil forming parts 194
working together are connected to each other by the connector 193.
Then, the base tip 191 of one of the pair of lead wires 190 forming
a circular shape by the coil forming part 194 and the base tip 191
of the other of the pair of lead wires 190 forming a circular shape
are connected to each other by a connector 202.
[0203] By doing this, the four lead wires 190 are connected in
series, and two circular shapes are formed by the coil forming
parts 194 on the current transmission path. Then, the two circular
shapes by the coil forming parts 194 are overlapped with each other
so that the current direction is equal with the axis direction view
(in FIGS. 16A and 16B, the direction perpendicular to the paper
surface). In specific terms, the sites positioned at "A" through
"H" shown in FIG. 16A are respectively positioned at "A" through
"H" in FIG. 16B. By working in this way, it is possible to obtain a
tool side coil 200 which can be divided in the circumference
direction by the connector 193 and the connector 202, and which is
wound on the partial core 130 a plurality of times. Note that the
tool side coil 200 shown in FIGS. 16A and 16B is a coil with a
winding count of 2, but in cases of consisting a coil that can be
divided in the circumference direction and having a larger number
of winds, similarly, it is also possible to form a yet higher
number of circular shapes by the pair of coil forming parts 194 by
connecting yet a higher number of lead wires 190 in series, and to
overlap the circular shapes so that the current direction is equal
with the axis direction view. Also, in FIG. 16B, to make it easy to
understand, the connectors 193 and 202 are provided for the
mutually connected extended tips 192 and the base tips 191
respectively, but it is of course also possible to constitute the
connectors 193 and 202 with just one connector.
[0204] Furthermore, there is no particular restriction on the
specific shape of the partial core member constituting the first
core member and on the second core member. For example, as shown in
model form in FIG. 17, it is also possible to use an item that
extends in a straight line form as the partial core 130.
Furthermore, the partial core member and the second core member are
not limited to having a cross section in a U shape, but can also
suitably use for example an E shaped or an I shaped item. In
addition, the partial core member does not necessarily have to be
arranged separated by equal gaps in the circumference direction of
the first core member, and it is also possible to have differing
separation distances between the partial core members. In that
case, the second core member facing opposite the partial core
member, so as to be facing opposite at least one partial core
member at any circumference direction position, is set to a
circumference direction length greater than the maximum item among
the circumference direction separation distances of the plurality
of partial core members.
[0205] Also, the arrangement position and the opposite facing
direction of the first core member and the second core member can
be changed as appropriate. A number of suitable examples are shown
in model form in FIG. 18 through FIG. 22, but it should be
understood that this does not indicate that the arrangement mode of
the first core member and the second core member are limited to
these.
[0206] First, in FIG. 18, at one surface of the disk 122, while the
four tool side coil heads 124 with mutually different diameter
dimensions are provided on a concentric axis, on the pad 148, the
four main unit side coil heads 150 are provided corresponding to
these four tool side coil heads 124. By working in this way, one
disk 122 and one pad 148 can constitute four transmission paths.
Note that when providing the tool side coil head 124 on only one
surface of the disk 122, as with the aforementioned pad 148 and the
main unit side coil head 150 shown in FIG. 10, preferably the
thickness dimensions of the disk 122 and the height dimensions of
the tool side coil head 124 (in FIG. 10, the lateral direction
dimensions) are equal, and through holes are formed penetrating in
the thickness direction of the disk 122, and also, the tool side
coil head 124 is inserted and fixed in this through hole. By
working in this way, it is possible to easily align the open end
surface 134 of the partial core 130 on the end surface 140 of the
disk 122.
[0207] Also, in FIG. 19, while at both surfaces of the disk 122,
two tool side coil heads 124 with differing diameter dimensions to
each other are arranged on a concentric axis, and a total of four
tool side coil heads 124 are provided, on the pair of pads 148 are
respectively provided with two main unit side coil heads 150
corresponding to the two tool side coil heads 124 provided on one
surface of the disk 122. Then, these pairs of pads 148 and disks
122 are positioned facing opposite with a specified distance
separated in the axis direction of the rotation axis 116. By
working in this way, it is possible to make the diameter dimensions
of the disk 122 smaller.
[0208] Furthermore, in FIG. 20, on one surface, aligned in the axis
direction of the rotation axis 116 are provided two sets of a set
of the disk 122 for which two tool side coil heads 124 with
mutually different diameter dimensions are provided on a concentric
axis, and the pad 148 on which are provided two main unit side coil
heads 150 corresponding to these two tool side coil heads 124.
Furthermore, in FIG. 21, four sets of a set of the disk 122
equipped with one tool side coil head 124 and the pad 148
corresponding to that tool side coil head 124 are arranged aligned
in the axis direction of the rotation axis 116. With these
constitutions as well, it is possible to constitute a total of four
transmission paths.
[0209] Note that the opposite facing direction of the first coil
head and the second coil head is not only the rotation center axis
direction of the rotation axis, but can also be a direction such as
that orthogonal to the rotation center axis direction of the
rotation axis. For example, on the disk 122 in FIG. 22,
respectively at both surfaces of the axis direction of the rotation
axis 116, one each of the tool side coil head 124 is provided, and
also, at the end surface of the direction orthogonal to the axis
direction of the rotation axis 116, in other words, the outer
circumference surface of the disk 122 (in FIG. 22, the vertical
direction end surface) is further provided another tool side coil
head 124. The partial core 130 of the tool side coil head 124
provided on the outer circumference surface of this disk 122 has
its open end surface 134 arranged facing the outside of the disk
122 in the direction orthogonal to the axis direction of the
rotation axis 116.
[0210] Then, respectively at each pad 148 are provided main unit
side coil heads 150 corresponding respectively to the tool side
coil heads 124 provided at both surfaces of the disk 122, and the
pair of pads 148 are positioned facing opposite each other
sandwiching the disk 122 with a specified distance separated in the
axis direction of the rotation axis 116. Furthermore, the pad 148
equipped with the main unit side coil head 150 corresponding to the
tool side coil head 124 provided on the outer circumference surface
of the disk 122 is positioned facing opposite the disk 122 with a
specified distance separated in the direction orthogonal to the
axis direction of the rotation axis 116. Note that the main unit
side core 152 of the pad 148 positioned facing opposite the disk
122 in the direction orthogonal to the axis direction of the
rotation axis 116 is arranged with its open end surface 158 in a
state facing the disk 122 in the direction orthogonal to the axis
direction of the rotation axis 116, and the open end surface 158 is
positioned facing opposite with a specific distance separated in
the direction orthogonal to the axis direction of the rotation axis
116 in relation to the open end surface 134 of the partial core 130
provided on the outer circumference surface of the disk 122. By
doing this, a total of three transmission paths are constituted by
a set of the pair of tool side coil heads 124 and the main unit
side coil heads 150 positioned facing opposite in the axis
direction of the rotation axis 116, and a set of one of the tool
side coil head 124 and the main unit side coil head 150 positioned
facing opposite in the direction orthogonal to the axis direction
of the rotation axis 116. Note that it is of course possible to
have a plurality of the tool side coil heads 124 aligned in the
axis direction of the rotation axis 116 on the outer circumference
surface of the disk 122.
[0211] Also, the main unit side core 152 as the second core member
shown with the aforementioned embodiment was in a shape without
being continuous on the entire circumference, but it is also
possible to have the second core member be a ring shape continuous
along the entire circumference.
[0212] Furthermore, the first support member does not absolutely
have to be coupled to the rotation axis, but can also be directly
fixed to the first member. For example, with the embodiment
described above, it is also possible to have the disk 122 fixed
directly to the tool side arm member 112. Furthermore, for example,
it is also possible to form as a single unit the flange shaped part
extending in the direction orthogonal to the rotation center axis
on the first member, and to use that flange shaped part as the
first support member or the like so as to form as a single unit the
first support member on the first member or the like, and for the
second support member as well, it is possible to form as a single
unit with the second member.
[0213] Also, using the harnessless device, instead of or in
addition to the aforementioned electrical signals, it is also
possible to transmit power or the like. For example, the movable
type transformer 110 according to the aforementioned embodiment
includes two sets of the tool side coil unit 118 and the main unit
side coil unit 120 set, so that it is also possible to perform
transmission of power using one set of those. By working in this
way, it is possible to transmit electrical signals and power
between the tool side arm member 112 and the main unit side arm
member 114 without using a cable, and for example it is possible to
constitute a power supply path using the movable type transformer
110 in addition to the signal delivery path for apparatuses driven
by relatively small power such as position sensors and the
like.
[0214] In addition, though each item is not listed, the present
invention can be implemented in modes with various modifications,
revisions, and amendments added based on the knowledge of a person
skilled in the art, and it goes without saying that any of that
kind of embodiment is included in the scope of the present
invention as long as it does not stray from the gist of the present
invention.
[0215] 22: Robot side adapter, 24: Tool side adapter, 30: Signal
feed module, 44: Primary side coil unit, 46: Primary side coil head
for power, 48a to e: Primary side coil heads for signals, 50: Case,
52: Coil member, 54: Core member, 56: Gap member, 60: End surface,
80: Secondary side coil unit, 82: Secondary side coil head for
power, 84a to e: Secondary side coil heads for signals
* * * * *